Abstract
Bilateral teleoperation systems have been widely used in many fields of robotics, such as industrial manipulation, medical treatment, space exploration, and deep-sea operation. Delays in communication, known as an inevitable issues in practical implementation, especially for long-distance operations and challenging communication situations, can destroy system passivity and potentially lead to system failure. In this work, we address the time-delayed three-channel teleoperation design problem to guarantee system passivity and achieve high transparency simultaneously. To realize this, the three-channel teleoperation structure is first reformulated to form a two-channel-like architecture. Then, the wave variable technique is used to handle the communication delay and guarantee system passivity. Two novel wave variable compensators are proposed to achieve delay-minimized system transparency, and energy reservoirs are employed to monitor and regulate the energy introduced via these compensators to preserve overall system passivity. Numerical studies confirm that the proposed method significantly improves both kinematic and force tracking performance, achieving near-perfect correspondence with only a single-trip delay. Quantitative analyses using Root Mean Square Error (RMSE), Mean Absolute Error (MAE), and Dynamic Time Warping (DTW) metrics show substantial error reductions compared to conventional wave variable and direct transmission-based three-channel teleoperation approaches. Moreover, statistical validation via the Mann–Whitney U test further confirms the significance of these improvements in system performance. The proposed design guarantees passivity with any passive human operator and environment without requiring restrictive assumptions, offering a robust and generalizable solution for teleoperation tasks with communication time delay.