Kraftregelung eines haptischen Displays zur kinästhetischen Interaktion mit virtuellen und realen entfernten Umgebungen

Haptic displays are devices which enable a human operator to touch and manipulate virtual or remote environments. In this paper the control problems due to changing operator and environment characteristics are presented and a solution via direct force control is proposed. The benefits of direct force control with respect to transparency and stability are shown theoretically and validated experimentally with the high-performance haptic display DeKiFeD3.