A Review on stability and passivity analysis of haptic devices

Haptic devices are robots that used for simulating virtual objects their operators. Since most real can be modelled by spring and dampers, the object is also a (discrete) damper. The discretization done with constant sampling time, while time delay may exist in control loop, due to do different sources. Simulating stiff challenging problem since severe vibrations occur body of haptic device damage itself or even its operator. stable operation key all applications. It shown using smaller values delay, make an increase stability domain; increasing effective mass friction has same result. In this paper, review passivity presented helps readers know better recent activities field.