A design method of wave filter for stabilizing non-passive operating system

In this paper, the force-position haptic teleoperating system is proposed. Although a force-position system is generally non-passive, stability is ensured by the wave filters to suppress the H∞ norm of the loop gain to less than 1. In this system, accurate positioning and transparency are achieved in the static state. It was also proven that the viscosity of the system increases in accordance with time-day and the step response of the wave filters. The advantage of our proposed method is demonstrated by an experiment of teleoperation between Munich and Toyohashi via the Internet with significant packet losses. Furthermore, the validity of our model is also shown by the simulation.