Abstract
It is well known that the wave variables are robust to time delay of a system from the viewpoint of passivity. During implementation of the wave transformation on the sampled-data system, a unit time delay arises due to causality of the reflection wave. The unit time delay on the reflection wave occasionally becomes a passive element. From the passivity condition of the sampled-data system, the wave impedance can be designed such that the wave transformation using delayed reflection provides the effect of positive damping and thus the stable haptic interface is achieved on the sampled-data system. Various experiments for a 2-linked passive haptic device show that stable haptic interface can be accomplished for the wall-following task by use of the wave transformation using delayed reflection.
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