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Despite the absence of standardized evaluation methodologies for these systems, this study identifies key gaps by experimentally assessing the quantitative performance of both systems under controlled conditions. The results reveal that Telbot exhibits higher stiffness, but at the cost of greater effort transmission, whereas Dexter offers smoother backdrivability. Furthermore, positional discrepancies were observed during the tests, particularly in nonlinear positional displacements. These findings highlight the need for standardized evaluation methods, contributing to the development, manufacturing, and procurement processes of future bilateral telerobotic systems.<\/jats:p>","DOI":"10.1017\/s0263574724001826","type":"journal-article","created":{"date-parts":[[2024,10,29]],"date-time":"2024-10-29T11:14:22Z","timestamp":1730200462000},"page":"242-255","source":"Crossref","is-referenced-by-count":2,"title":["Nuclear bilateral telerobotic systems: performance comparison and future implications"],"prefix":"10.1017","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9103-6380","authenticated-orcid":false,"given":"Harun","family":"Tugal","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fumiaki","family":"Abe","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Masaki","family":"Sakamoto","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shu","family":"Shirai","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ipek","family":"Caliskanelli","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wenxing","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hector","family":"Marin-Reyes","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kaiqiang","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Robert","family":"Skilton","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2024,10,29]]},"reference":[{"key":"S0263574724001826_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/21.281433"},{"key":"S0263574724001826_ref28","doi-asserted-by":"publisher","DOI":"10.3390\/act5020017"},{"key":"S0263574724001826_ref11","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-4225-6"},{"key":"S0263574724001826_ref16","doi-asserted-by":"publisher","DOI":"10.1162\/105474602321050695"},{"key":"S0263574724001826_ref30","first-page":"399","volume-title":"Development and Application of the Telbot System","author":"W\u00e4lischmiller","year":"1997"},{"key":"S0263574724001826_ref1","doi-asserted-by":"publisher","DOI":"10.1016\/j.amsu.2022.104734"},{"key":"S0263574724001826_ref19","doi-asserted-by":"crossref","unstructured":"[19] Deng, Y. , Tang, Y. , Yang, B. , Zheng, W. , Liu, S. and Liu, C. , \u201cA Review of Bilateral Teleoperation Control Strategies with Soft Environment,\u201d In: 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM (2021) pp. 459\u2013464.","DOI":"10.1109\/ICARM52023.2021.9536056"},{"key":"S0263574724001826_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2019.2923703"},{"key":"S0263574724001826_ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.fusengdes.2018.03.026"},{"key":"S0263574724001826_ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2014.03.009"},{"key":"S0263574724001826_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3349811"},{"key":"S0263574724001826_ref20","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-021-01523-x"},{"key":"S0263574724001826_ref13","doi-asserted-by":"crossref","unstructured":"[13] Brooks, T. 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