@Article{arioui:irs:2003,
  author    = {Arioui, Hichem and Kheddar, Abderrahmane and Mammar, Said},
  title     = {A model-based controller for interactive force reflecting virtual environment under time-delay},
  journal   = {Journal of Intelligent \& Robotic Systems},
  year      = {2003},
  volume    = {37},
  number    = {2},
  pages     = {193--207},
  month     = {June},
  doi       = {10.1023/A:1024106504729},
  url       = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.100.6585\&rep=rep1\&type=pdf},
  keywords  = {virtual environment haptics, time-delayed force feedback, stability},
  abstract  = {This paper addresses the stability of time-delayed force-reflecting displays used in virtual reality interactive systems. A novel predictive-like approach is proposed. The developed solution is stable and robust. Neither time delay estimation nor time delay behavior’s knowledge are required. The controller applies to constant or time-varying delays without any adaptation. In this research, efforts are devoted towards making results easy to implement in commercial haptic libraries and interface build-in controllers. Moreover, although this study focuses on virtual environments haptics, it can easily spreads to force feedback teleoperators Topics: virtual environment haptics, time-delayed force feedback, stability},
  publisher = {Springer},
  address   = {Van Godewijckstraat 30, 3311 GZ Dordrecht, Netherlands}
}