Abstract: This paper deals with adaptive force feedback control of haptic devices that will enable users to interact more realistically with a virtual environment. A system based approach to designing an indirect adaptive output feedback control for a class of single-input single-output nonlinear systems in the explicit input-output differential representation is presented. It is assumed that the zero dynamics associated with the coupled haptic interface/virtual environment is a nonlinear system that is exponentially stable, that is, the system enjoys a minimum- phase property. The proposed nonlinear adaptive controller is implemented using output feedback that can be obtained from the sensors available in the system.!9
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