Realistic and stability performances of haptic system with adaptive virtual coupling

A high performance haptic system should provide both stable and realistic interaction to users. In order to improve the system stability, virtual couplings have been used to separate the haptic display from virtual environment simulations. A static virtual coupling can improve system stability but unfortunately degrades realistic performance of the system. This improved concept, named adaptive virtual coupling, is designed such that its parameters can be adjusted to maximize realistic performance while ensuring stability. The experimental result indicated that with adaptive virtual coupling users could feel more realistic interaction than the existing static virtual coupling method.