@ARTICLE{Tavakoli-2008a, title={Discrete-time bilateral teleoperation: modelling and stability analysis}, author={Tavakoli, M. and Aziminejad, A. and Patel, R.V. and Moallem, M.}, journal={Control Theory and Applications, IET}, year={2008}, month={June}, volume={2}, number={6}, pages={496-512}, keywords={continuous time systems, discrete time systems, sampling methods, stability, telerobotics, transfer functionscontinuous discrete-time bilateral teleoperation, control gain, damping, discretely simulated virtual wall, haptic interaction, master-slave teleoperation, sampling period, slave robot, stability analysis, z-domain transfer function}, doi={10.1049/iet-cta:20070195}, ISSN={1751-8644}, }