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Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Task-Space Framework for Bilateral Teleoperation With Time Delays J. Dyn. Sys., Meas., Control. 2012;134(5): doi: / The two-port structure of the teleoperator system Figure Legend:

Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Task-Space Framework for Bilateral Teleoperation With Time Delays J. Dyn. Sys., Meas., Control. 2012;134(5): doi: / The six-DOF master and slave manipulator models Figure Legend:

Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Task-Space Framework for Bilateral Teleoperation With Time Delays J. Dyn. Sys., Meas., Control. 2012;134(5): doi: / The wall (a rigid plane) that is interacted with by the slave Figure Legend:

Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Task-Space Framework for Bilateral Teleoperation With Time Delays J. Dyn. Sys., Meas., Control. 2012;134(5): doi: / Master and slave end-effector positions Figure Legend:

Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Task-Space Framework for Bilateral Teleoperation With Time Delays J. Dyn. Sys., Meas., Control. 2012;134(5): doi: / Master and slave end-effector orientations described by Euler parameters Figure Legend:

Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Task-Space Framework for Bilateral Teleoperation With Time Delays J. Dyn. Sys., Meas., Control. 2012;134(5): doi: / Master and slave end-effector paths Figure Legend:

Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Task-Space Framework for Bilateral Teleoperation With Time Delays J. Dyn. Sys., Meas., Control. 2012;134(5): doi: / The human operator’s force and the contact force Figure Legend:

Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Task-Space Framework for Bilateral Teleoperation With Time Delays J. Dyn. Sys., Meas., Control. 2012;134(5): doi: / The human operator’s torque and the contact torque Figure Legend:

Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Task-Space Framework for Bilateral Teleoperation With Time Delays J. Dyn. Sys., Meas., Control. 2012;134(5): doi: / Master and slave end-effector positions (time-varying delay case, Trmax = 2.0) Figure Legend:

Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Task-Space Framework for Bilateral Teleoperation With Time Delays J. Dyn. Sys., Meas., Control. 2012;134(5): doi: / The forward and backward time delays Figure Legend: