@article{arioui_model-based_2003,
	title = {A {Model}-{Based} {Controller} for {Interactive} {Delayed} {Haptic} {Feedback} {Virtual} {Environments}},
	volume = {37},
	url = {http://dx.doi.org/10.1023/A:1024106504729},
	abstract = {This paper addresses the stability of time-delayed force-reflecting displays used in virtual reality interactive systems. A novel predictive-like approach is proposed. The developed solution is stable and robust. Neither time delay estimation nor time delay behavior's knowledge are required. The controller applies to constant or time-varying delays without any adaptation. In this research, efforts are devoted towards making results easy to implement in commercial haptic libraries and interface build-in controllers. Moreover, although this study focuses on virtual environments haptics, it can easily spread to force feedback teleoperators. ER -},
	number = {2},
	journal = {Journal of Intelligent and Robotic Systems},
	author = {Arioui, H. and Kheddar, A. and Mammar, S.},
	year = {2003},
	note = {M3: 10.1023/A:1024106504729},
	pages = {193--207}
}

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