Co-actuation: a Method for Achieving High Stiffness and Low Inertia for Haptic Devices.

Achieving high stiffness and low inertia is a big challenge for current haptic devices. Impedance-based devices are limited in providing high stiffness while, in contrast, admittance-based devices are limited in generating low inertia. Thus, it is difficult to simulate hard contact and small inertia simultaneously in virtual environments. In this paper, we introduce a co-actuation module to overco...