Bridging the gap between passivity and transparency

In this paper a structure will be given which in aremarkably simple way offers a solution to the implementationof different telemanipulation schemes for discrete time varyingdelays by preserving passivity and allowing the highest transparencypossible. This is achieved by splitting the communicationchannel in two separate ones, one for the energy balance whichwill ensure passivity and one for the haptic information betweenmaster and slave and which will address transparency. Theauthors believe that this structure is the most general up todate which preserves passivity under discrete time varying delaysallowing different control schemes to address transparency.