This paper proposes a passivity theorem on the basis of energy concepts to study the stability of force feedback in a virtual haptic system. An impedance-passivity controller (IPC) was designed from the two-port network perspective to improve the chief drawback of haptic systems. namely the considerable time required to reach stability if the equipment consumes energy slowly. The prop... https://www.roneverhart.com/Slate-Digital-VCC-Virtual-Console-Collection-p32717/