{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:54:57Z","timestamp":1777715697207,"version":"3.51.4"},"reference-count":23,"publisher":"SAGE Publications","issue":"3","license":[{"start":{"date-parts":[[2007,3,1]],"date-time":"2007-03-01T00:00:00Z","timestamp":1172707200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2007,3]]},"abstract":"<jats:p>Stability is essential for teleoperation and a prerequisite for performance. This paper analyzes the the stability\/performance trade-off of a teleoperator where the slave device has a built-in passive intrinsic stiffness. Stability is quantified as time delay robustness and performance is expressed using teleoperator damping and teleoperator stiffness, the boundaries of the Colgate Z-width<\/jats:p>\n                  <jats:p>Two classic control schemes, position error and Lawrence 4-channel, are used along with a novel 5-channel scheme where the slave stiffness deflection is measured, and compensated for, to improve the performance.<\/jats:p>\n                  <jats:p>The teleoperator system was analyzed theoretically using a linear model and the findings were experimentally validated on a one degree of freedom teleoperation setup.<\/jats:p>\n                  <jats:p>It was found that:<\/jats:p>\n                  <jats:p>\u2022 A lower slave stiffness improves stability for all three teleoperator architectures. \u2022 The stability boundary of the three controllers is similar. \u2022 The performance of the controllers increases from: (poor) position error, 4-Channel to (excellent) 5-channel. \u2022 A classical linear analysis method can accurately predict the stability characteristics of the teleoperator system.<\/jats:p>\n                  <jats:p>Therefore it can be concluded that a compliant slave device offers a stability advantage for a range of teleoperation situations and that the loss of performance can be partly compensated.<\/jats:p>","DOI":"10.1177\/0278364906076264","type":"journal-article","created":{"date-parts":[[2007,2,26]],"date-time":"2007-02-26T09:49:17Z","timestamp":1172483357000},"page":"287-299","source":"Crossref","is-referenced-by-count":31,"title":["The Low-Stiffness Teleoperator Slave \u2014 a Trade-off between Stability and Performance"],"prefix":"10.1177","volume":"26","author":[{"given":"G\u00f6ran A. V.","family":"Christiansson","sequence":"first","affiliation":[{"name":"Delft Haptics Laboratory, Delft University of Technology, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Frans C. T.","family":"van der Helm","sequence":"additional","affiliation":[{"name":"Delft Haptics Laboratory, Delft University of Technology, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2007,3,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2003.819586"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1109\/9.24201"},{"key":"atypb3","volume-title":"Force and Touch Feedback for Virtual Reality","author":"Burdea, G. C.","year":"1996","edition":"1"},{"key":"atypb4","first-page":"2454","volume-title":"IEEE International Conference on Systems, Man and Cybernetics","author":"Christiansson, G. A. 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C."},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1109\/70.88057"},{"key":"atypb12","first-page":"1764","volume-title":"IEEE International Conference on Robotics and Automation","author":"Hannaford, B."},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067471"},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1109\/70.988981"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1109\/56.9305"},{"key":"atypb16","first-page":"1321","volume-title":"IEEE International Conference on Robotics and Automation","author":"Howe, R. D."},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2004.824320"},{"key":"atypb18","volume-title":"World Robotics 2004","author":"Karlsson, J.","year":"2004"},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2006.32"},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1109\/70.258054"},{"key":"atypb21","unstructured":"Qian, H. (1993). Stable Robot Force Control in Case of Hard Contact. Thesis\/dissertation, KU Leuven, Department of Mechanical Engineering."},{"key":"atypb22","first-page":"1316","volume-title":"IEEE International Conference on Robotics and Automation","author":"Raju, G. J."},{"key":"atypb23","first-page":"262","volume-title":"IEEE international Conference on Robotics and Automation","author":"Whitney, D. E."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364906076264","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364906076264","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:15:57Z","timestamp":1777457757000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364906076264"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2007,3]]},"references-count":23,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2007,3]]}},"alternative-id":["10.1177\/0278364906076264"],"URL":"https:\/\/doi.org\/10.1177\/0278364906076264","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2007,3]]}}}