Master-model based time-delayed force feedback interaction: experimental results

This paper extends earlier results on stable haptic and force feedback interaction in the presence of constant and varying time-delay. Although the paper focuses on virtual environment (VE) based haptics, results can also apply to teleoperation. The proposed method considers extending our preliminary work where Smith prediction principle has been adapted on delayed haptic feedback interaction. We shall show that this proposed approach is easy to implement and is original since it investigates another way to formulate stable haptic feedback algorithms. It requires to know only the model of the master interface or the haptic display. Stability and robustness analysis are thoroughly discussed. Experimental results and comparison with wave variables are discussed.