Control strategies applied to kinesthetic haptic devices

In this paper, the state of the art in force feedback haptic devices is presented. The importance of the current searching for better immersion characteristics has motivated an interesting research in advanced control strategies. The passive, optimal, adaptive and robust control strategies applied in the last two years to haptic devices have improved the stability and response of contact with rigid and soft virtual objects. All this has shown that control can improve the human sensation of reality in virtual worlds.