Guaranteed stability of haptic systems with nonlinear virtual environments

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103 Scopus citations


Design of haptic systems that guarantee stable interaction is a challenging task. Virtual environments are typically highly nonlinear - resulting in a nonpassive discrete-time model. This paper will investigate how nonlinear mass/spring/damper virtual environments can be designed to guarantee the absence of oscillations and other chaotic behavior in the signal presented to the human operator. In particular, delayed and nondelayed implementation of the mass/spring/damper virtual environment is considered, revealing a nonintuitive result with regard to the allowable local stiffness.

Original languageEnglish (US)
Pages (from-to)712-719
Number of pages8
JournalIEEE Transactions on Robotics and Automation
Issue number6
StatePublished - 2000

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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