Transparency of the Generalized Scattering Transformation for Haptic Telepresence

In this paper we analyze the transparency of the generalized scattering transformation applied to teleoperation systems with constant time delay. Particularly, the human operator, the remote environment, and the robot manipulators are modeled as dissipative instead of just passive systems. By the application of this transformation delay-independent stability is guaranteed. It is shown that transparency can be substantially improved compared to the conventional scattering transformation approach. Simulations and experimental results on a three degree-of-freedom teleoperation system validate the presented approach