The examples highlight the ability of the proposed design approach to handle some of the most difficult problems in control law synthesis for haptics, including structural flexibility and non-collocation of sensors and actuators.
Good agreement is observed between theoretically predicted and experimental results.
An absolutely stable haptic interface, designed using these methods, is the centerpiece of a Virtual Building Block training study. This study investigates the benefits of haptic feedback for training a manual task in a virtual environment. Results show training with haptic feedback has a significant impact on performance in the manual real-world task.