Anovel control architecture based on a multi-event for tele-operation with an exoskeleton armover the internet in case of trans-mission delay and communication failure is proposed. In this proposed control scheme a non-time event reference s is chosen to coordinate two sites and promises synchronization of the system. In addition, more than one event generator is employed to compose the multi-event-based control structure, in which the state of the slave site and uncertainties on the master site, such as singu-larity of the master arm and so on, are both evaluated. Through the bilateral tele-operation experiments in case of time delay with a rigid obstacle and master arm singularity structure, this control scheme is well demonstrated. The tele-operation system has solid performance with good stability and synchronization.

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