J. E. Speich and M. Goldfarb, Implementation of loop-shaping compensators to increase the transparency bandwidth of a scaled telemanipulation system, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), pp.2886-2893, 2002.
DOI : 10.1109/ROBOT.2002.1013670

D. Lawrence, Stability and transparency in bilateral teleoperation, IEEE Transactions on Robotics and Automation, vol.9, issue.5, pp.624-637, 1993.
DOI : 10.1109/70.258054

G. J. Raju, G. C. Verghese, and T. B. Sheridan, Design issues in 2-port network models of bilateral remote manipulation, Proceedings, 1989 International Conference on Robotics and Automation, pp.1316-1321, 1989.
DOI : 10.1109/ROBOT.1989.100162

T. B. Sheridan, Space teleoperation through time delay: review and prognosis, IEEE Transactions on Robotics and Automation, vol.9, issue.5, pp.592-606, 1993.
DOI : 10.1109/70.258052

L. Moody, C. Baber, and T. N. Arvanitis, Objective surgical performance evaluation based on haptic feedback, Studies in Health Technology and Informatics, vol.85, pp.304-310, 2002.

C. Pacchierotti, A. Tirmizi, G. Bianchini, and D. Prattichizzo, Enhancing the Performance of Passive Teleoperation Systems via Cutaneous Feedback, IEEE Transactions on Haptics, vol.8, issue.4, pp.397-409, 2015.
DOI : 10.1109/TOH.2015.2457927

L. Meli, C. Pacchierotti, and D. Prattichizzo, Experimental evaluation of magnified haptic feedback for robot-assisted needle insertion and palpation, The International Journal of Medical Robotics and Computer Assisted Surgery, vol.38, issue.2073, 2017.
DOI : 10.1007/978-3-642-14075-4_12

URL : https://hal.archives-ouvertes.fr/hal-01482249

C. Pacchierotti, F. Ongaro, F. V. Brink, C. Yoon, D. Prattichizzo et al., Steering and Control of Miniaturized Untethered Soft Magnetic Grippers With Haptic Assistance, IEEE Transactions on Automation Science and Engineering, vol.15, issue.1, pp.290-306, 2018.
DOI : 10.1109/TASE.2016.2635106

URL : https://hal.archives-ouvertes.fr/hal-01482255

C. R. Wagner, S. J. Lederman, and R. D. Howe, A tactile shape display using RC servomotors, Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002, pp.354-355, 2002.
DOI : 10.1109/HAPTIC.2002.998981

R. Lozano, B. Brogliato, O. Egeland, and B. Maschke, Dissipative systems analysis and control, 2000.
DOI : 10.1007/978-1-4471-3668-2

URL : https://hal.archives-ouvertes.fr/hal-00821748

A. , L2 -Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering, 2000.

J. Ryu, D. Kwon, and B. Hannaford, Stable Teleoperation With Time-Domain Passivity Control, IEEE Transactions on Robotics and Automation, vol.20, issue.2, pp.365-373, 2004.
DOI : 10.1109/TRA.2004.824689

B. Hannaford and J. Ryu, Time-domain passivity control of haptic interfaces, IEEE Transactions on Robotics and Automation, vol.18, issue.1, pp.1-10, 2002.
DOI : 10.1109/70.988969

G. Niemeyer and J. E. Slotine, Telemanipulation with Time Delays, The International Journal of Robotics Research, vol.23, issue.9, pp.873-890, 2004.
DOI : 10.1109/TRA.2002.802200

J. Kim and J. Ryu, Robustly Stable Haptic Interaction Control using an Energy-bounding Algorithm, The International Journal of Robotics Research, vol.2006, issue.6, pp.666-679, 2010.
DOI : 10.1109/TRO.2004.842330

J. Ryu, Y. S. Kim, and B. Hannaford, Sampled- and Continuous-Time Passivity and Stability of Virtual Environments, IEEE Transactions on Robotics, vol.20, issue.4, pp.772-776, 2004.
DOI : 10.1109/TRO.2004.829453

J. Ryu, C. Preusche, B. Hannaford, and G. Hirzinger, Time domain passivity control with reference energy following, IEEE Transactions on Control Systems Technology, vol.13, pp.737-742, 2005.

M. Franken, S. Stramigioli, S. Misra, C. Secchi, and A. Macchelli, Bilateral Telemanipulation With Time Delays: A Two-Layer Approach Combining Passivity and Transparency, IEEE Transactions on Robotics, vol.27, issue.4, pp.741-756, 2011.
DOI : 10.1109/TRO.2011.2142430

F. Ferraguti, N. Preda, A. Manurung, M. Bonfe, O. Lambercy et al., An Energy Tank-Based Interactive Control Architecture for Autonomous and Teleoperated Robotic Surgery, IEEE Transactions on Robotics, vol.31, issue.5, pp.1073-1088, 2015.
DOI : 10.1109/TRO.2015.2455791

K. Salisbury, D. Brock, T. Massie, N. Swarup, and C. Zilles, Haptic rendering, Proceedings of the 1995 symposium on Interactive 3D graphics , SI3D '95, pp.123-130, 1995.
DOI : 10.1145/199404.199426

I. Desai, A. Gupta, and D. Chakraborty, Transparency enhancement of haptic interface using model matching approach, 2016 Indian Control Conference (ICC), pp.399-404, 2016.
DOI : 10.1109/INDIANCC.2016.7441165

M. C. Franken, S. Stramigioli, R. Reilink, C. Secchi, and A. Macchelli, Bridging the gap between passivity and transparency, Robotics: Science and Systems V, 2009.
DOI : 10.15607/RSS.2009.V.036

N. Hogan, Controlling impedance at the man/machine interface, Proceedings, 1989 International Conference on Robotics and Automation, pp.1626-1631, 1989.
DOI : 10.1109/ROBOT.1989.100210