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In this paper, a feedback controller is designed for a haptic interface using the H∞ model matching framework. The controller minimizes the H∞ norm between the haptic device-controller closed loop system and the desired virtual environment. The designed controller stably simulates high virtual spring stiffness at low sampling rate and accurately displays force feedback to the user. The model matching...
This paper presents a model matching approach for impedance control of haptic interfaces using the control framework. The force applied by the operator is considered to an exogenous input, and the controller is designed to maximize transparency. Through simulations, it is demonstrated that the proposed approach can be used to enhance transparency of a haptic interface, and to simulate stiffer virtual...
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