
Chapter 9
Control of a force feedback interface
Claude Andriot and Florian Gosselin
Contributor: Philippe Fuchs
9.1 INTRODUCTION
This chapter deals with the control of force feedback interfaces. It is restricted to linear
systems of one degree of freedom. Virtual manipulation of an object by a user leads
to a transfer of energy from the user to the simulation. With a haptic coupling, this
energy transfer becomes bidirectional and the product of force-position represents the
mechanical work (Burdea, 1996). This energy transfer may have an adverse effect on
the stability (on the automatic control) and may harm the quality of the simulation.
This, in return, ...