On the Role of Dissipation in Haptic Systems

Research output: Contribution to journalArticlepeer-review

41 Scopus citations


Passivity theory has been used for the past decade to derive stability conditions for human/machine interface applications. Demonstrating passivity of the haptic display implies stable and safe interaction for the human user. At the heart of the stability analysis is the physical dissipation provided by the haptic device, as it plays a key role in the design process for all components. This paper will derive the condition that the haptic device must satisfy in order to achieve passivity1of the haptic display. These results will be used to investigate a general nonlinear device model.

Original languageEnglish (US)
Pages (from-to)768-771
Number of pages4
JournalIEEE Transactions on Robotics
Issue number4
StatePublished - Aug 2004


  • Haptics
  • passivity
  • stability

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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