@inproceedings { , title = {Network formulation and stability improvement of a bilateral teleoperation system with admittance-type master interfaces}, abstract = {© 2015 IEEE. This paper introduces a network formulation of bilateral teleoperation systems with admittance-type master interfaces to improve their stability range with Time Domain Passivity Approach (TDPA). Since traditional network representation of admittance-type teleoperation was not enough to detect the active energy, a new representation of admittance-type teleoperation system is formulated, using dependent effort/flow concepts. The proposed method, allows choosing small values of inertia in admittance model, which provides high transparency in free space interaction. Using the conventional mechanical-electrical analogy, the teleoperation system is modeled in an electrical network domain. Then, passivity of admittance-type teleoperation is analyzed and the TDPA is applied to passivate the system. Experimental results verified the effectiveness of the proposed approach.}, conference = {IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM}, doi = {10.1109/AIM.2015.7222796}, issn = {2159-6247}, journal = {2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)}, pages = {1731-1736}, publicationstatus = {Published}, url = {https://uwe-repository.worktribe.com/output/834542}, volume = {2015-August}, keyword = {force, stability criteria, admittance, circuit stability, damping, haptic interfaces}, year = {2015}, author = {Nabeel, Muhammad and Jafari, Aghil and Ryu, Jee Hwan} }