Control law design for haptic interfaces to virtual reality

@article{Adams2002ControlLD,
  title={Control law design for haptic interfaces to virtual reality},
  author={Richard J. Adams and Blake Hannaford},
  journal={IEEE Trans. Contr. Sys. Techn.},
  year={2002},
  volume={10},
  pages={3-13}
}
The goal of control law design for haptic displays is to provide a safe and stable user interface while maximizing the operator’s sense of kinesthetic immersion in a virtual environment. This paper outlines a control design approach which guarantees the stability of a haptic interface when coupled to a broad class of human operators and virtual environments. Two-port absolute stability criteria are used to develop explicit control law design bounds for two different haptic display… CONTINUE READING
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