Passivity based approaches to bilateral teleoperation control ensure robust stability against disruptive effects of communication delays and achieve velocity tracking, but severely compromise on position tracking and force reflection capability of the telerobotic system. Recently, the Time Domain Passivity Approach (TDPA) has been gaining interest in field of bilateral teleoperation due to its simplicity, ease of implementation, robustness to communication delays, and adaptive control design which promises less conservatism.

Robotic devices are excellent candidates for delivering repetitive and intensive practice that can restore functional use of the upper limbs, even years after a stroke. Rehabilitation of the wrist and hand in particular are critical for recovery of function, since hands are the primary interface with the world.  However, robotic devices that focus on hand rehabilitation are limited due to excessive cost, complexity, or limited functionality. A design and control strategy for such devices that bridges this gap is critical.

Interfaces and strategies for the teleoperation of bipedal humanoid robots, which otherwise hold great potential in industrial, space exploration, and military application, are currently under-researched.