On the Design Method of a Haptic Interface Controller with Virtual Coupling

A haptic interface can be a passive system with virtual coupling as a filter. Virtual coupling has been designed for satisfying passivity. However, it aects transparency of haptic interface as well as stability. This paper suggests new design criterion of a haptic interface controller by considering transparency. As a result, sampling time and the range of impedance or admittance should be considered as well as virtual coupling for desired performance of haptic display. And experiments show that the suggested design criterion can be applied successfully for desired performance.

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