Stability Analysis and Design of Multi-dimensional Haptic Systems

This paper provides a convenient framework based on passivity and optimization for stability analysis and controller design for haptic systems involving multiple devices and human operators. The proposed approach exploits peculiar features of the multi-dimensional scenario and allows for taking into account structural constraints such as operator-device configuration and controller decentralization. A method for the design and implementation of structured controllers whose impact on the realism of interaction can be qualitatively tuned, is proposed.