Abstract: In this paper, we propose the use of a nonlinear disturbance-observer for estimation of contact forces during haptic interactions. Most commonly used impedance-type haptic interfaces employ open-loop ...

Abstract: This paper presents a shared-control interaction paradigm for haptic interface systems, with experimental data from two user studies. Shared control, evolved from its initial telerobotics applications, ...

Abstract: A haptic virtual environment is considered to be high-fidelity when the environment is perceived by the user to be realistic. For environments featuring rigid objects, perception of a high ...