Effect of virtual coupling cell on the haptic system

The influence of virtual coupling cell on the stability and transparence of force interaction system was discussed, under the information flowing mode of impedance display. According to their special physical characteristics, individual spring or damping cell is in series or in parallel connection with different virtual environment. Concerning the single degree of freedom force interaction system as an example, when the driving-point element of the environment is spring, the spring and damping cell are in serial connection with the environment. Through comparing with the original system, the influence of virtual coupling cell on the system stability and transparence was derived. The simulation results meet well with the analysis. In control design of force interaction system, reasonable choice of virtual coupling cell can improve the system stability.