Factors Affecting the Stable Range of Damping and Mass in Admittance Type Haptic Devices

This work investigates the stability of admittance type haptic devices in the context of a wider range of impedances than previously considered. More specifically, we consider the stable range of mass and damping. The coupled human driving impedance, actuator position control bandwidth, and loop delay are identified as major factors affecting the range of stable impedances. Finally, theoretical results are experimentally verified using a custom one degree of freedom admittance type haptic device.