A Model Matching Framework for Haptic Controller Design

In this paper, a feedback controller is designed for a haptic interface using the H-infinity model matching framework. The controller minimizes the H-infinity norm between the haptic device-controller closed loop system and the desired virtual environment. The designed controller stably simulates high virtual spring stiffness at low sampling rate and accurately displays force feedback to the user. The model matching framework allows to alter the performance of the interface as per the application. Passivity of the interface is guaranteed assuming user can not give input at high frequencies. Experiments performed on a single degree of freedom (DOF) haptic device are consistent with the claims we make