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This paper presents a novel approach for stability and transparency analysisfor bilateral teleoperation in the presence of data loss in communicationmedia. A new model for data loss is proposed based on a set of periodiccontinuous pulses and its finite series representation. The passivity of theoverall system is shown using wave variable approach including the newlydefined model for data loss. Simulation results are presented to show theeffectiveness of the proposed approach.

Stability and Transparency Analysis of a Bilateral Teleoperation in Presence of Data Loss