This paper presents frequency-dependent digital damping referred to a digital input shaper (DIS). Compared to the previously proposed analog input shaper, the DIS makes the implementation of damping much more flexible and significantly reduces the electrical noise. Moreover, the DIS incorporates a position control method at the initial contact to improve the perceived contact hardness. Then, through a series of simulations and benchmark virtual wall experiments, we show that the DIS can significantly increase the impedance range that a haptic interface can stably display and that the initial contact hardness that a user perceives can be noticeably improved by using the proposed position control method. Finally, the DIS is applied to scaled teleoperation using an atomic force microscope and through contact experiments it is shown that it can indeed increase the scaled impedance of a real environment that can be stably displayed.
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