Position coordination of nonlinear teleoperation for unrestricted non-passive environment and operator in the presence of time delay

This paper presents an approach for position coordination problem of nonlinear teleoperators in the presence of time delay. Unlike previous studies no assumption is made concerning the passivity of the environment and/or human operators. The assumption which are not satisfied in many applications such as beating hurt surgery and telerehabilitation. The input to state stability of the overall system is ensured under the condition that the interaction forces are bounded. It is assumed that the operator is non-passive and the environment is active. Simulation results are presented to evaluate the performance of the proposed approach.