Development of a String-Based Haptic Interface by Using a Hybrid Control Approach

String-based interfaces are promising to provide the force feedback for the operator of a virtual environment. However their performance is affected by some problems like instability, inertia and response lag, especially in the large environments. A hybrid position/force control method is presented in this paper. This approach is experimented on an interface with two actuators and force feedback is tested on different virtual objects. It is shown that the stability and transparency of the interface are increased