Bilateral Teleoperation with Nonlinear Environments: Multiplier Approach

The level of force transmitted to the human operator in bilateral teleoperation is being restricted due to the stability analysis methods. To increase telepresence, the multiplier approach has recently been exploited to analyse the absolute stability of the bilateral teleop-eration where the environment is modelled as a bounded monotonic nonlinearity (Tugal et al., 2016). In this paper, we extend this methodology to 3-Channel architecture. The benefits of this methodology are demonstrated with experimental results, in particular we show that an improvement of the transparency index without stability degradation.