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In this paper, the result is generalized to include teleoperator systems that are under rate control or more general master-slave kinematic correspondence laws, such as a mixedposition\/rate mode. A one-degree-of-freedom example is given to outline the design and analysis of such a system for transparency and stability. The validity of the theory has been verified through simulations and experiments.<\/jats:p>","DOI":"10.1177\/02783640022068020","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T02:59:46Z","timestamp":1058583586000},"page":"1185-1202","source":"Crossref","is-referenced-by-count":74,"title":["Transparent Bilateral Teleoperation under Position and Rate Control"],"prefix":"10.1177","volume":"19","author":[{"given":"Septimiu E.","family":"Salcudean","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ming","family":"Zhu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wen-Hong","family":"Zhu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Keyvan","family":"Hashtrudi-Zaad","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, University of British                         Columbia, 2356 Main Mall, Vancouver, British Columbia, Canada V6T 1Z4"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2000,12,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/70.768179"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1109\/9.24201"},{"key":"atypb3","unstructured":"Bejczy, A., and Handlykken, M. 1981. 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