Passivity and Transparency of Teleoperation Systems with Lossy Delay: Transmission Line-based Analysis

This paper analyzes the passivity and transparency of teleoperation systems in the presence of data delays and signal attenuations. To ensure the passivity and perfect transparency of such network systems, this paper makes use of the concept of lossy transmission line. Utilizing the concept or transmission line enables us to intuitively understand the characteristics of lossy network and allows us to consider the data delays and data dropout issues simultaneously. Thus, the key contribution of this paper is to propose of using transmission line concepts to ensure both the passivity and transparency of teleoperation systems with delays and data loss. Through numerical simulations using P-SPICE, the validity of the proposed analysis is evaluated.