Bilateral teleoperation: An historical survey

This survey addresses the subject of bilateral teleoperation, a research stream with more than 50 years of history and one that continues to be a fertile ground for theoretical exploration and many applications. We focus on the control theoretic approaches that have been developed to address inherent control problems such as delays and information loss. Exposure to several concurrent applications is provided, and possible future trends are outlined. (c) 2006 Elsevier Ltd. All rights reserved.