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Stability analysis of a 1 DOF haptic interface using the Routh-Hurwitz criterion

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4 Author(s)
Gil, J.J. ; Appl. Mech. Dept., Centro de Estudios e Investigaciones Tecnicas, San Sebastian, Spain ; Avello, A. ; Rubio, A. ; Florez, J.

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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Control Systems Technology, IEEE Transactions on  (Volume:12 ,  Issue: 4 )