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Various approaches have been proposed in the past to address stability concerns; however, these often come at the expense of system transparency. Nevertheless, increasing transparency is crucial in a teleoperation system to enable precise and safe operations, as well as to provide real-time decision-making capabilities for the operator. This paper presents our comprehensive approaches to maximize teleoperation transparency by minimizing system impedance, enhance the wave variable method to handle time-varying network delays, and alleviate non-smooth effects caused by network jitters in bilateral teleoperation. The proposed methodologies take into account the real-world challenges and considerations to ensure the practical applicability and effectiveness of the teleoperation system. Throughout these implementations, passivity analysis is employed to ensure system stability, guaranteeing a reliable and safe teleoperation experience. The proposed approaches were successfully validated in Team Northeastern\u2019s Avatar telepresence system, which achieved the 3rd place in ANA Avatar XPRIZE challenge.\n<\/jats:p>","DOI":"10.1007\/s12369-023-01092-z","type":"journal-article","created":{"date-parts":[[2024,1,22]],"date-time":"2024-01-22T15:02:45Z","timestamp":1705935765000},"page":"409-426","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Practical Approaches Towards Transparent and Stable Bilateral Teleoperation Under Time-Varying Network Delay"],"prefix":"10.1007","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6894-8234","authenticated-orcid":false,"given":"Chunpeng","family":"Wang","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6508-5488","authenticated-orcid":false,"given":"Rui","family":"Luo","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5317-0228","authenticated-orcid":false,"given":"John Peter","family":"Whitney","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5123-5801","authenticated-orcid":false,"given":"Taskin","family":"Padir","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2024,1,22]]},"reference":[{"issue":"5","key":"1092_CR1","doi-asserted-by":"publisher","first-page":"494","DOI":"10.1109\/9.24201","volume":"34","author":"R Anderson","year":"1989","unstructured":"Anderson R, Spong M (1989) Bilateral control of teleoperators with time delay. 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