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This paper proposes a novel framework - passive set-position modulation - which enables one to utilize the explicit position feedback over packet-switching communication network (e.g. Internet) with significant varying-delay and packet-loss, while enforcing energetic passivity at the same time. The proposed modulation framework is flexible (i.e. can accommodate varying data update-rate and intermediate data processing such as smoothing/ reconstructuring); local and decentralizable (i.e. performance can be locally tuned without consulting other sides over the communication), thus, scalable; and relies only on the position signal, rather than often-inaccurate/noise-contaminated numerical integration/ differentiation. The paper believes that this proposed passive setposition modulation would be useful for varying-rate haptics and bilateral teleoperation over the Internet.
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