A transparency oriented self-adaptive algorithm applied to admittance type haptic devices is proposed,which is based on an inner velocity loop PI controller with desire force feed-forward.

F haptic interface device, including its mechanism design, hardware architecture and motor servo system design.

Measurement of moment mobility and elimination of measurement errors;

In this paper, the direct measurement technique for the moment mobility is described, with emphasis on the construction and performances of a moment exciter which is composed of two magnetostrictive rods (Tb_(0.