{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,24]],"date-time":"2026-03-24T15:19:24Z","timestamp":1774365564897,"version":"3.50.1"},"reference-count":26,"publisher":"ASME International","issue":"1","content-domain":{"domain":["asmedigitalcollection.asme.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2009,3,1]]},"abstract":"<jats:p>The influence of viscous damping and delay on the stability of haptic systems is studied in this paper. The stability boundaries have been found by means of different approaches. Although the shape of these stability boundaries is quite complex, a new linear condition, which summarizes the relation between virtual stiffness, viscous damping, and delay, is proposed under certain assumptions. These assumptions include a linear system, short delays, fast sampling frequency, and relatively low physical and virtual damping. The theoretical results presented in this paper are supported by simulations and experimental data using the DLR light-weight robot and the large haptic interface for aeronautic maintainability (LHIfAM).<\/jats:p>","DOI":"10.1115\/1.3074283","type":"journal-article","created":{"date-parts":[[2009,3,6]],"date-time":"2009-03-06T18:30:53Z","timestamp":1236364253000},"update-policy":"https:\/\/doi.org\/10.1115\/crossmarkpolicy-asme","source":"Crossref","is-referenced-by-count":66,"title":["Stability Boundary for Haptic Rendering: Influence of Damping and Delay"],"prefix":"10.1115","volume":"9","author":[{"given":"Jorge Juan","family":"Gil","sequence":"first","affiliation":[{"name":"Department of Applied Mechanics, CEIT and TECNUN, University of Navarra, San Sebasti\u00e1n E-20018, Spain"}]},{"given":"Emilio","family":"S\u00e1nchez","sequence":"additional","affiliation":[{"name":"Department of Applied Mechanics, CEIT and TECNUN, University of Navarra, San Sebasti\u00e1n E-20018, Spain"}]},{"given":"Thomas","family":"Hulin","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen-We\u00dfling D-82234, Germany"}]},{"given":"Carsten","family":"Preusche","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen-We\u00dfling D-82234, Germany"}]},{"given":"Gerd","family":"Hirzinger","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen-We\u00dfling D-82234, Germany"}]}],"member":"33","published-online":{"date-parts":[[2009,2,20]]},"reference":[{"key":"2019100323492586600_c1","first-page":"97","article-title":"Six Degree-of-Freedom Haptic System for Desktop Virtual Prototyping Applications","volume-title":"Proceedings of the First International Workshop on Virtual Reality and Prototyping","author":"Chen"},{"key":"2019100323492586600_c2","first-page":"2887","article-title":"Description of a Haptic System for Virtual Maintainability in Aeronautics","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Savall"},{"key":"2019100323492586600_c3","article-title":"Haptic Rendering for Virtual Assembly Verification","volume-title":"Proceedings of the World Haptics Conference","author":"Hulin"},{"key":"2019100323492586600_c4","first-page":"936","article-title":"The Black Falcon: A Teleoperated Surgical Instrument for Minimally Invasive Surgery","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Madhani"},{"key":"2019100323492586600_c5","first-page":"3292","article-title":"Haptic Modeling and Experimental Validation for Interactive Endodontic Simulation","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Li"},{"key":"2019100323492586600_c6","first-page":"71","article-title":"A Driving Simulator as a Virtual Reality Tool","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Lee"},{"issue":"4","key":"2019100323492586600_c7","doi-asserted-by":"publisher","first-page":"583","DOI":"10.1109\/TCST.2004.825134","article-title":"Stability Analysis of a 1 DOF Haptic Interface Using the Routh\u2013Hurwitz Criterion","volume":"12","author":"Gil","journal-title":"IEEE Trans. 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