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The coupled stability of the proposed control architecture against uncertainties in the environment and the user\u2019s dynamics is investigated using the three-port master\u2013slave network model of the dual-user haptic simulation system. For this purpose, Llewellyn\u2019s unconditional stability criterion is applied to an equivalent two-port network model obtained from the corresponding three-port network, considering the environment as a load termination. The kinesthetic performance of the proposed architecture is numerically analyzed for transparency and evaluated against a benchmark control architecture under different operating conditions, such as various types of environments, users\u2019 grasps, and levels of dominance of users over the task. An experimental user study is carried out to assess the effectiveness of the proposed architecture in terms of users\u2019 perception of environment stiffness sensing, device agility, and haptic guidance reception.<\/jats:p>","DOI":"10.1177\/0278364910397559","type":"journal-article","created":{"date-parts":[[2011,3,13]],"date-time":"2011-03-13T20:39:38Z","timestamp":1300048778000},"page":"1627-1642","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":42,"title":["Shared control architectures for haptic training: Performance and coupled stability analysis"],"prefix":"10.1177","volume":"30","author":[{"given":"Behzad","family":"Khademian","sequence":"first","affiliation":[{"name":"Department of Electrical and Computer Engineering, Queen\u2019s University, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Keyvan","family":"Hashtrudi-Zaad","sequence":"additional","affiliation":[{"name":"Department of 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