Actuator Transparency and the Energetic Cost of Proprioception

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Gavin D. Kenneally, Wei-Hsi Chen, Daniel E. Koditschek

Published: 01 Jan 2018, Last Modified: 24 Jan 2025ISER 2018EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: In the field of haptics, conditions for mechanical “transparency” [1] entail such qualities as “solid virtual objects must feel stiff” and “free space must feel free” [2], suggesting that a suitable actuator is able both to do work and readily have work done on it.