Control Algorithms for Haptic Interaction and Modifying the Dynamical Behavior of the Interface

Abstract

This paper presents a brief description of control algorithms used for simulating the haptic interaction and modifying the dynamical behavior of the mechanical interface. The first target of the controller is to provide the kinesthetic constraint of the virtual environment. Its second aim is to improve the transparency of the device, decreasing the inertia felt by the user in unconstraint movement and making him feel only the virtual environment.