IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, issue October (2002) pp. 1936-1941
This paper presents a novel approach to the interconnection of a continuous time and a discrete time physical system. This is done in a way which preserves the passivity of the coupled system independently of the sampling time. A direct application in the field of haptic displays, where a virtual environment should feel like equivalent physical systems, is presented.
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