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A four-channel bilateral control system in the presence of large and variable time delay is proposed as a proof of concept. Time delay is managed with a novel communication disturbance observer (CDOB). The system also employed a scaling down compensation value (SDCV) for the CDOB. The proposed control system was tested successfully in bilateral haptic interaction, simulating a remote motor and functional evaluation of patients' hands, guaranteeing safe and stable interaction, even in the presence of large network delays.<\/jats:p>","DOI":"10.1017\/s0263574716000643","type":"journal-article","created":{"date-parts":[[2016,9,13]],"date-time":"2016-09-13T04:13:39Z","timestamp":1473740019000},"page":"1975-1991","source":"Crossref","is-referenced-by-count":3,"title":["Development of a four-channel haptic system for remote assessment of patients with impaired hands"],"prefix":"10.1017","volume":"35","author":[{"given":"Omar","family":"Daud","sequence":"first","affiliation":[]},{"given":"Roberto","family":"Oboe","sequence":"additional","affiliation":[]},{"given":"Fabio","family":"Oscari","sequence":"additional","affiliation":[]},{"given":"Stefano","family":"Masiero","sequence":"additional","affiliation":[]},{"given":"Giulio","family":"Rosati","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2016,9,13]]},"reference":[{"key":"S0263574716000643_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/70.258054"},{"key":"S0263574716000643_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/3516.491410"},{"key":"S0263574716000643_ref34","doi-asserted-by":"publisher","DOI":"10.1093\/brain\/awm311"},{"key":"S0263574716000643_ref21","doi-asserted-by":"publisher","DOI":"10.1016\/S0031-9406(05)61029-2"},{"key":"S0263574716000643_ref5","doi-asserted-by":"crossref","unstructured":"W. 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