Isotropic force control for haptic interfaces

This paper describes a multivariable modeling and control strategy that increases the bandwidth of isotropic force transmission in multi-degree of freedom haptic interfaces. The controller structure leads to a straightforward model identification procedure and yields a simple control law that can be easily implemented. Experimental results show that the multivariable closed-loop control significantly improves performance on a five degree-of-freedom in-parallel haptic interface.

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