Environment delay in haptic systems

Investigates the influence environment delay has on haptic systems. Work presented by the authors (1999) demonstrated that it is possible to account for environment delay (even though it is a non-passive behavior) and still achieve a stability result based on passivity concepts. The details were given for haptic systems with environments having impedance causality. This paper presents the companion results for haptic systems with environments having admittance causality, resulting in a slightly more complicated analysis. Although the main focus is on delay, the approach is valid for analysing any environment that exhibits non-passive behavior