Using the master-slave network hybrid parameters (2) and the task impedance in (1), the ... C1,...,C4 are the remote feedback controller transfer functions, and F* and F* ... Zend = -1. Ven 1. (11) which is the impedance of the human hand. In robot .... teleoperation control framework, it is assumed that local controllers have ...
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qstR}st
$js sj qjB}s $Bt ZtI _BR$ $Bt stI is ]Bt Bj
