Analysis of implementation issues for haptic interfaces using HIL concept

Haptic interfaces permit adaptation of human operator commands to the mechanical characteristics of the virtual environment. The implementation of a haptic interface is dependent on the dynamics characteristics of the interface components. Implementation issues are analyzed using a hardware-in-the-loop (HIL) experimental facility. Hardware-in-the-loop simulations based on the two-port effort-flow concept represent a solid base for investigating the implementation of haptic interfaces. The results are relevant for characterization of the performance and limits of haptic interface implementations.