Experimental verification of a new passivity condition including the human arm impedance


It is well known that friction in haptic devices plays a key role in dissipating surplus energy and maintaining passivity of the haptic system. It is also shown in the previous study [14] that the surplus energy can be also dissipated by careful exploitation of human operator's damping. This paper defines a Passivity Margin and extends the originalā€¦Ā (More)


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