Haptic interface devices are machines that are controlled by human hand contact forces. These devices are necessary elements of virtual reality machines. They may be programmed to give the human arm the sensation of forces associated with various arbitrary maneuvers. As examples, they can give the human the sensation that he/she is maneuvering a mass, or pushing onto a spring or a damper. In general, these devices may be programmed for any trajectory-dependent force. Several force reflecting hand controllers for telerobotic systems were designed and built to verify the theoretical derivations in haptic interface devices.

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