Stability Problem of Wave Variable Based Bilateral Control: Influence of the Force Source Design

Table 1

Parameters for stability analysis.

Parameters	Mark	Value
Master mass	𝑀𝑚	1.0 (kg)
Slave mass	𝑀𝑆	1.0 (kg)
Position gain	𝐾𝑝	400.0 (s^−2)
Velocity gain	𝐾𝑣	40.0 (s^−1)
Wave impedance	𝑏	50.0
Environment damping	𝐷𝑒	2.0 (Nm/s)
Human damping	𝐷ℎ	2.0 (Nm/s)
Human stiffness	𝐾ℎ	10^−6 (N/m)