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Passive transmission procedures guarantee system stability, but wave reflections and spurious dynamics may interfere with normal operation. Using wave variables for the analysis and implementation, and making appropriate design choices, a system with consistent and predictable behavior is constructed. This design methodology aims to create a virtual tool which accounts for the implicit limitations imposed by the delay. These developments also form the basis for extensions to wave-based prediction and application to variable delays, such as those inherent to Internet-based telemanipulation. <\/jats:p>","DOI":"10.1177\/0278364904045563","type":"journal-article","created":{"date-parts":[[2004,9,6]],"date-time":"2004-09-06T23:08:30Z","timestamp":1094512110000},"page":"873-890","source":"Crossref","is-referenced-by-count":457,"title":["Telemanipulation with Time Delays"],"prefix":"10.1177","volume":"23","author":[{"given":"G\u00fcnter","family":"Niemeyer","sequence":"first","affiliation":[{"name":"Telerobotics Lab, Stanford University, Stanford, CA 94305"}]},{"given":"Jean-Jacques E.","family":"Slotine","sequence":"additional","affiliation":[{"name":"Nonlinear Systems Laboratory, Massachusetts Institute of Technology,                         Cambridge, MA 02139"}]}],"member":"179","published-online":{"date-parts":[[2004,9,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/100.414921"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1109\/9.24201"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1177\/027836499201100204"},{"key":"atypb4","unstructured":"Arioui, H., Kheddar, A., and Mammar, S. 2002. 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