Internal dissipation in passive sampled haptic feedback systems

In this paper the passivity algorithm proposed in is revisited. This algorithm generates passive haptic feedback by monitoring the energy flows in the virtual environment. The original formulation of the algorithm could not deal well with large internal dissipation and high sampling frequencies. An alteration is proposed on how internal dissipation is handled. This alteration improves the robustness of the algorithm for a wider range of parameter values and sample times. The improved version of the algorithm is demonstrated in a virtual wall experiment.