Adaptive Impedance Control to Enhance Human Skill on a Haptic Interface System

Table 2

Parameters and variables for virtual model control.

Variables/parameters	Unit	Meanings
𝑥𝑟	[m]	Position of a virtual model
𝑒𝑟	[m]	Error (=∶𝑥𝑟−𝑥𝑝)
𝑚𝑟	[kg]	Mass of a virtual model
𝑑𝑟	[Ns/m]	Viscosity of a virtual model