  In this paper, we present a way of enforcing safety and passivity properties
of robot teleoperation systems, where a human operator interacts with a
dynamical system modeling the robot. The approach does so in a holistic
fashion, by combining safety and passivity constraints in a single
optimization-based controller which effectively filters the desired control
input before supplying it to the system. The result is a safety and passivity
filter implemented as a convex quadratic program which can be solved
efficiently and employed in an online fashion in many robotic teleoperation
applications. Simulation results show the benefits of the approach developed in
this paper applied to the human teleoperation of a second-order dynamical
system.
