1. Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Task-Space Framework for Bilateral Teleoperation With Time Delays J. Dyn. Sys., Meas., Control. 2012;134(5):051010-051010-10. doi:10.1115/1.4006215 The two-port structure of the teleoperator system Figure Legend:

2. Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Task-Space Framework for Bilateral Teleoperation With Time Delays J. Dyn. Sys., Meas., Control. 2012;134(5):051010-051010-10. doi:10.1115/1.4006215 The six-DOF master and slave manipulator models Figure Legend:

3. Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Task-Space Framework for Bilateral Teleoperation With Time Delays J. Dyn. Sys., Meas., Control. 2012;134(5):051010-051010-10. doi:10.1115/1.4006215 The wall (a rigid plane) that is interacted with by the slave Figure Legend:

4. Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Task-Space Framework for Bilateral Teleoperation With Time Delays J. Dyn. Sys., Meas., Control. 2012;134(5):051010-051010-10. doi:10.1115/1.4006215 Master and slave end-effector positions Figure Legend:

5. Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Task-Space Framework for Bilateral Teleoperation With Time Delays J. Dyn. Sys., Meas., Control. 2012;134(5):051010-051010-10. doi:10.1115/1.4006215 Master and slave end-effector orientations described by Euler parameters Figure Legend:

6. Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Task-Space Framework for Bilateral Teleoperation With Time Delays J. Dyn. Sys., Meas., Control. 2012;134(5):051010-051010-10. doi:10.1115/1.4006215 Master and slave end-effector paths Figure Legend:

7. Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Task-Space Framework for Bilateral Teleoperation With Time Delays J. Dyn. Sys., Meas., Control. 2012;134(5):051010-051010-10. doi:10.1115/1.4006215 The human operator’s force and the contact force Figure Legend:

8. Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Task-Space Framework for Bilateral Teleoperation With Time Delays J. Dyn. Sys., Meas., Control. 2012;134(5):051010-051010-10. doi:10.1115/1.4006215 The human operator’s torque and the contact torque Figure Legend:

9. Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Task-Space Framework for Bilateral Teleoperation With Time Delays J. Dyn. Sys., Meas., Control. 2012;134(5):051010-051010-10. doi:10.1115/1.4006215 Master and slave end-effector positions (time-varying delay case, Trmax = 2.0) Figure Legend:

10. Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Task-Space Framework for Bilateral Teleoperation With Time Delays J. Dyn. Sys., Meas., Control. 2012;134(5):051010-051010-10. doi:10.1115/1.4006215 The forward and backward time delays Figure Legend: