Realistic active haptic guided exploration with Cartesian control for force–position tracking in finite time

Perception and interaction with virtual surfaces, through kinaesthetic sensation and visual stimuli, is the basic issue of a haptic interface. When the virtual or real object is in a remote location, and guidance is required to perceive kinaesthetic feedback, a haptic guidance scheme is required. In this document, with purpose of haptic-guided exploration, a new scheme for simultaneous control of force and cartesian position is proposed without using inverse kinematics, and without using the dynamic model of PHANToM, though a strict stability analysis includes the dynamic model of PHANToM. We rely on our previously proposed results to propose a new haptic cartesian controller to reduce the burden of computing cartesian forces in PHANToM. Furthermore, a time base generator for finite-time tracking is also proposed to achieve very fast tracking and high precision, which translated into high fidelity kinaesthetic feedback