基于广义波变换的力反馈遥操作系统的透明性，推导了实现系统透明遥操作的最小波反射准则和严格阻抗匹配

准则。理论分析和数字仿真均表明：广义波变换遥操作系统的透明性是一个与输入频率相关的特性；同一组参数在不同的

输入频率下，系统的透明性不同；当系统输入频率增高时，透明降低。严格阻抗匹配的波变量遥操作系统在相应的输入频

率下，透明度高于最小波反射的波变量遥操作系统；最小波反射准则对输入频率的敏感程度则低于严格阻抗匹配准则。-Generalized wavelet transform-based force feedback teleoperation system transparency, derived most wavelet reflection teleoperation system transparent guidelines and strictly impedance matching criteria. Theoretical analysis and digital simulation: generalized wavelet transform teleoperation system transparency is an input frequency characteristics　same set of parameters, the transparency of the system under different input frequencies　When the system input frequency increased, transparent reduced. Strictly the wave impedance matching variable transparency than most wavelet reflected wave variable teleoperation system input frequency remote control system　the best wavelet reflection guidelines on the sensitivity of the input frequency is lower than the strict impedance matching criteria.