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Besides, a predictor is proposed since the future trajectory of the mobile robot is not known <jats:italic>a priori<\/jats:italic> being it decided online by the user. The command fusion and predictor are designed based on the time delay and the current context measured through the crash probability. Finally, the proposed scheme is tested from teleoperation experiments considering time-varying delay as well as force feedback.<\/jats:p>","DOI":"10.1017\/s0263574711000427","type":"journal-article","created":{"date-parts":[[2011,4,26]],"date-time":"2011-04-26T09:36:19Z","timestamp":1303810579000},"page":"67-77","source":"Crossref","is-referenced-by-count":22,"title":["Teleoperation of a mobile robot with time-varying delay and force feedback"],"prefix":"10.1017","volume":"30","author":[{"given":"Emanuel","family":"Slawi\u00f1ski","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vicente","family":"Mut","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lucio","family":"Salinas","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sebastian","family":"Garc\u00eda","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2011,4,26]]},"reference":[{"key":"S0263574711000427_ref33","first-page":"208","volume-title":"Proceedings of the Conference Information: 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems","author":"Vittorias","year":"2009"},{"key":"S0263574711000427_ref36","doi-asserted-by":"publisher","DOI":"10.1109\/HAVE.2002.1106916"},{"key":"S0263574711000427_ref29","doi-asserted-by":"crossref","first-page":"17","DOI":"10.1109\/TMECH.2009.2013848","article-title":"Teleoperation of a mobile robot using a force-reflection joystick with sensing mechanism of rotating magnetic field","volume":"15","author":"Cho","year":"2010","journal-title":"IEEE-ASME Trans. 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