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김종필(Jong-Phil Kim),백상윤(Sangyun Baek),류제하(Jeha Ryu) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.5
Stability is a major requirement in haptic interaction since unstable behavior impairs realism and may injure the human operator. In this paper, we propose a force bounding approach by which a robustly stable haptic interaction is made possible for a linear virtual environment. Based on the passivity condition for sampled-data haptic systems, a sufficient condition for the force that can be passively displayed is derived.