Haptics refers to a widespread area of research that focuses on the interaction
between humans and machine interfaces as applied to the sense of touch. A haptic interface
is designed to increase the realism of tactile and kinesthetic sensations in applications such
as virtual reality, teleoperation, and other scenarios where situational awareness is considered
important, if not vital. This paper investigates the use of electric actuators and non-linear
algorithms to provide force feedback to an input command device for providing haptics to the
human operator. In particular, this work involves the study and implementation of a special case
of feedback linearization known as inverse dynamics control and several outer loop impedance
control topologies. It also investigates the issues concerned with force sensing and the application
of model based controller functions in order to vary the desired inertia and the desired mass
matrix. Results of the controllers’ abilities to display any desired impedance and provide the
required kinesthetic constraint of virtual environments are shown on two experimental test rigs
designed for this purpose.peer-reviewe