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A passive control scheme for the bilateral teleoperation of a one degree of freedom electrohydraulic actuator is proposed. The overall system enables a human operating a motorized joystick to feel as if he is manipulating a rigid mechanical tool with which the work environment is also in contact. By ensuring that the closed loop system behaves like a passive two port device, safety and stability when coupled to other systems are improved. The control scheme is developed by first using activedoi:10.1080/14399776.2004.10781191 fatcat:43di6wv2zjcwpgrgxeknmzkp5q