A haptic interface is a kinesthetic link between a human operator and a virtual environment. A way of studying the stability of a 1 degree-of-freedom (DOF) haptic interface using the Routh-Hurwitz criterion is presented in this brief. Parameter conditions that guarantee the stability of the system with a static virtual environment have been found. These conditions can help in the development and implementation of haptic devices. Finally, they have been confirmed by experimental results.
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Gil et al. (2004) studied this question.
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