The effect of remote-signal feedback architectures on the stability of human-in-the-loop telerobotics in the presence of time-delays

In this paper, stability properties of three different human-in-the-loop telerobotic system architectures are comparatively investigated, in the presence of human reaction time-delay and communication time-delays. The challenging problem of stability characterization of systems with multiple time-delays is addressed by implementing rigorous stability analysis tools, and the results are verified via numerical illustrations. Practical insights about the results of the stability investigations are also provided.