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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.
Colgate et al. (Tue,) studied this question.