{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:55:38Z","timestamp":1777715738008,"version":"3.51.4"},"reference-count":21,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[2008,1,1]],"date-time":"2008-01-01T00:00:00Z","timestamp":1199145600000},"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":[[2008,1]]},"abstract":"<jats:p>Transparent teleoperation under rate mode has proven to be difficult in terms of stability, performance and implementation. This is mainly due to the need for an exchange of derivative and integral of measured positions and forces which make transparent rate mode controllers prone to noise and abrupt contact force changes. Moreover, the performance of controllers declines in the presence of communication delays. This paper proposes two control architectures based on the use of local force feedback (LFF) and environment impedance reflection (EIR). The LFF controllers eliminate a force channel while preserving transparency under ideal conditions. In the EIR controller, the identified impedance of the environment is employed in the master controller to predict the slave position and contact force derivatives. The stability robustness and performance of these controllers are evaluated and compared to those of a benchmark controller under different operational conditions, such as noise and delay, using analytical methods and experimental results.<\/jats:p>","DOI":"10.1177\/0278364907083397","type":"journal-article","created":{"date-parts":[[2007,12,18]],"date-time":"2007-12-18T07:54:13Z","timestamp":1197964453000},"page":"57-72","source":"Crossref","is-referenced-by-count":22,"title":["Transparent Rate Mode Bilateral Teleoperation Control"],"prefix":"10.1177","volume":"27","author":[{"given":"Farid","family":"Mobasser","sequence":"first","affiliation":[{"name":"Invenium Technologies Corporation, Toronto, Ontario M2N 6K1, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Keyvan","family":"Hashtrudi-Zaad","sequence":"additional","affiliation":[{"name":"Department of Electrical & Computer Engineering, Queen's University, Kingston, Ontario K7L 3N6, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2008,1,1]]},"reference":[{"key":"atypb1","volume-title":"Proceedings of Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems","author":"Abbott, J.J."},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1080\/00207178808906161"},{"key":"atypb3","volume-title":"Proceedings of the First Joint Eurohaptics Conference and IEEE Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems","author":"Dominjon, L."},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1109\/70.88057"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067471"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1109\/70.988981"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1109\/70.258056"},{"key":"atypb8","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Hogan, N."},{"key":"atypb9","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Hsu, P."},{"key":"atypb10","volume-title":"Proceedings of the IEEE Midwest symposium on Circuits and Systems","author":"Hunt, T."},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087117"},{"key":"atypb12","volume-title":"Proceedings of IEEE\/ASME International Conference on Advanced Intelligent Mechatronics","author":"Kontz, M.E."},{"key":"atypb13","volume-title":"Proceedings of ASME International Mecahnical Engineering Congrees and Exposition","author":"Kontz, M.E."},{"issue":"5","key":"atypb14","first-page":"624","volume":"9","author":"Lawrence, D.A.","year":"1993","journal-title":"Automation"},{"key":"atypb15","volume-title":"Proceedings of the International Symposium of Experimental Robotics","author":"Lawrence, P.D."},{"key":"atypb16","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Parker, N.R."},{"key":"atypb17","volume-title":"Proceedings of the 11th World Congress in Mechanism and Machine Sience","author":"Rossi, A."},{"issue":"6","key":"atypb18","first-page":"844","volume":"11","author":"Salcudean, S.E.","year":"1995","journal-title":"IEEE Transactions on Control Systems Technology"},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.1177\/02783640022068020"},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1162\/105474600566592"},{"issue":"5","key":"atypb21","first-page":"605","volume":"10","author":"Yokokohji, Y.","year":"1994","journal-title":"Automation"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364907083397","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364907083397","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:05Z","timestamp":1777457765000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364907083397"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2008,1]]},"references-count":21,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2008,1]]}},"alternative-id":["10.1177\/0278364907083397"],"URL":"https:\/\/doi.org\/10.1177\/0278364907083397","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2008,1]]}}}