Dynamic range of achievable impedances in force-reflecting interfaces

This paper addresses the performance of force-reflecting interfaces (`haptic displays'). We suggest that an important measure of performance is the dynamic range of achievable impedances, and that an impedance is achievable if it satisfies a robustness property such as passivity. The effects of sampling, inherent interface dynamics, and sensor quantization on dynamic range are discussed. Techniques for achieving very high impedances are presented.