Control systems of haptic man-machine interfaces

Methods for construction of stable control systems for the mechanism of haptic interaction used in haptic man-machine interfaces are considered. These interfaces reconstruct realistic haptic perception of a virtual object by a man. Two approaches to the control synthesis for the interaction mechanism are proposed and analyzed. The first one is based on tracking the open-loop trajectory of motion of the virtual object (body), and the second one is based on tracking the force of interaction with this object. Unlike known papers, the analysis takes into account the nonlinearity of the control system. The analysis is performed for two possible interaction regimes: “pushing” and “holding” of the virtual object. Stability conditions that are easily implemented are obtained.