Environment Delay in Haptic Systems Department of Mechanical Engineering ' Electrical and Computer Engineering

This paper will investigate the influence environmen t delay has o n haptic systems. Work presented in [9] and [ll] demonstrated that it is possible to account for environment delay (even though it is a non-passive behavior) and still achieve a stability result based o n passivity concepts. The details were given fo r haptic systems with environments having impedance causali t y . This paper will present the companion results for haptic systems with environments having admittance causality, resulting in a slightly more complicated analysis. Although the ma in focus will be o n delay, the approach is valid t o analyze any environment that exhibits non-passive behavior.