Analysis and design of multi-contact haptic systems: An LMI approach

This paper provides a convenient framework based on passivity and linear matrix inequalities for stability analysis and virtual coupling design for multi-contact haptic systems. The proposed approach exploits peculiar features of the multi-contact scenario and allows for taking into account structural constraints such as operator location, decentralization or limited communication. A method for the design and implementation of structured virtual couplings whose impact on the realism of interaction can be qualitatively tuned, is proposed.