Bilateral teleoperation control to improve transparency in stiff environment with time delay

This paper proposes a new bilateral control scheme to ensure both transparency and robust stability under unknown constant time delay in stiff environment. furthermore, this method guaranties suitable performance and robust stability when transition occurs between soft and stiff environments. this framework is composed of an adaptive sliding mode controller and an adaptive impedance controller, where online estimation of the environment impedance is performed, and then used as the desired impedance at the master side. numerical simulations are provided to verify the theoretical results under different conditions, such as constant and time-varying delay, obstructed environment and transitioning between soft and stiff environment. afterwards, comparison with a recent work is addressed.