Abstract. This paper proposes a nonlinear controller to extend the Zwidth of a haptic device. A time-domain passivity analysis of the Z-width diagram leads to the new haptic contro...
— The hardware and control concept of a mobile haptic interface is presented. It is intended to provide spatially unrestricted, dual-handed haptic interaction. The device is comp...
Ulrich Unterhinninghofen, Thomas Schauss, Martin B...