2025
Accuracy/Stability Trade-Off and Hybrid Impedance and Admittance Control for Haptic Devices
RA-L 2025
This paper investigates the use of Hybrid Impedance and Admittance controllers for navigating an accuracy/stability trade-off in haptic devices. Typically, sensitivity to modelling error in Impedance control (IC) and force sensor error in Admittance control (AC) is reduced by increasing the desired