Time delay is a long standing impediment of bilateral control and can destabilize the system evidently. We have already proposed a model-based approach for bilateral control of master-slave robot using time-domain passivity control. This method consists of a virtual slave environment model on the master side and the slave feedback force is modified. However, the chattering phenomena of force can be observed when the model based approach is activated or inactivated. In this paper, the viscosity of the master manipulator is modified according to the output of passivity observer rather than slave feedback force. The energy of the system is discussed using the proposed method and experiments about hard and soft environment contact have been carried out for verification of the proposed approach.

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