Control and low-level rendering issues in haptic interfaces

Outline

Introduction/motivation

Introduction/motivation

Network model of haptic interaction

Network model of haptic interaction

Network model of haptic interaction

Stability

Stability

Stability

Stability

Stability

Stability

Performance

Tradeoff example

Controller design

Controller design

Controller design

Controller design

Controller design

Controller design

Controller design

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Slide 30

Discussion / Challenges

Discussion / Challenges