Methods are provided for stabilizing a haptic interface of a computer-controlled one-port virtual-reality system or a two-port teleoperation system comprising a robot manipulator. “Stabilizing” means to reduce the sense of vibration in a haptic interface. A Passivity Observer is computed to measure...http://www.google.de/patents/US7027965?utm_source=gb-gplus-sharePatent US7027965 - Time domain passivity control of haptic interfaces
