There was a paper on robust controller design framework of teleoperation. This design method strongly depends on the initial setup of the system and can not be applied to the realistic situation which includes the transition motion as free to contact motion because the controllers were separately derived for the free motion and contact motion. Therefore, we want to propose a new design framework which can solve this dependence. To prove the effectiveness of the proposed method, comparative simulation with the existing four channel design method was performed.

There have been many bilateral micro-teleoperation systems handling a small object. Historically, Lawrence (1991) proposed the transparency-optimized architecture and passivity theorem for stability analysis of bilateral teleoperation. He claimed that unless the task(or environment) impedance contains a significant inertial behavior, passivity condition for transparency-optimized architecture can not be satisfied. To overcome this problem, we analyze and propose a method which can satisfy passivity condition for the micro-teleoperation system handling a small inertial object based on the structures originated by Lawrence and Hashtrudi-Zaad et al. (1999) and velocity-force scaling property of micro-teleoperation.