Power and impedance scaling in bilateral manipulation

Ed Colgate*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

52 Scopus citations


A power and impedance scaling bilateral manipulator (such as an extender or a macro-micro bilateral manipulator) can greatly enhance the manual capabilities of a human operator, but it can also compromise the inherent stability of the operator. A condition for the robust stability of an operator/bilateral manipulator environment system is derived using the structured singular value. The application of this condition is illustrated with several examples of power and impedance scaling via a two-channel bilateral manipulator.

Original languageEnglish (US)
Pages (from-to)2292-2297
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Jan 1 1991

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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