Patent ID: 8190292

Claim:
A telerobotics system having a master device (m), a slave device (s) and a wave controller interfacing said master (m) and said slave device (s), wherein said wave controller is characterized by the methods steps, comprising: (a) said wave controller transmitting an incoming wave command (U s ) to said slave device (s); (b) said wave controller producing a wave information (V s ) by combining said incoming wave command (U s ) with received position (X s ) or velocity information ({dot over (X)} s ) from said slave device (s); (c) said wave controller producing a wave command (V m ) by combining said wave information (V s ) with a force or acceleration information (output of H(s)) from respectively the contact between said slave device (s) and the environment (e) or the tip of said slave device (s); and (d) said wave controller transmitting said wave command (V m ) to said master device (m).