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The au thors discuss several implementation issues, among them the need of shared control at certain singularities. Results from an experi mental study are also provided.<\/jats:p>","DOI":"10.1177\/027836499801700203","type":"journal-article","created":{"date-parts":[[2007,3,11]],"date-time":"2007-03-11T03:05:13Z","timestamp":1173582313000},"page":"138-152","source":"Crossref","is-referenced-by-count":20,"title":["Singularity-Consistent Behavior of Telerobots: Theory and Experiments"],"prefix":"10.1177","volume":"17","author":[{"given":"D.N.","family":"Nenchev","sequence":"first","affiliation":[{"name":"Department of Aeronautics and Space Engineering Tohoku University Sendai 980-77, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Y.","family":"Tsumaki","sequence":"additional","affiliation":[{"name":"Department of Aeronautics and Space Engineering Tohoku University Sendai 980-77, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Uchiyama","sequence":"additional","affiliation":[{"name":"Department of Aeronautics and Space Engineering Tohoku University Sendai 980-77, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1998,2,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"crossref","unstructured":"Bedrossian, N.S., and Flueckiger, K. 1991 (Sacramento, CA, April 9-11). 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