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This presentation focuses on the stability and transparency of haptic telepresence systems in packet switched communication networks. Conjointly control theoretic, communication related, and human haptic perception aspects are considered. Based on the passivity framework methods to stabilize the system with time delay and packet loss are developed and systematically analyzed. The emphasis lies on the passive reconstruction of lost packets. With regard to the limited communication resources in packet switched communication networks the reduction of network traffic in haptic telepresence systems without impairing transparency is addressed by a novel approach based on deadband control. Exploiting the Quality-of-Service~(QoS) concept, well-known in the network community, a very innovative approach to simultaneous control of the haptic telepresence system and the communication network, is considered. This QoS control is studied and discussed here for the first time. The transparency for all the considered control approaches is evaluated by a novel transparency measure taking into account human haptic perception. The obtained results are validated in experiments. Further insights with focus on human factors are gained in experimental user studies.
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