This textbook provides some background on the design and use of admittance controlled devices. The emphasis is on the use as a haptic virtual reality display, but other applications are covered as well.
The text provides the necessary theoretical background, but most of the knowledge was in fact gained in practical use. The theory is treated accordingly at the "need to know" level, rather than with great mathematical rigor.
The experience with what is known now as admittance control was gained initially on Fokker flight simulator control sticks and pedals. It was then applied to the FCS Haptic Master rehab robot and its developments, the Simodont dental trainer and its spinoffs, a gantry robot, an exo-skeleton for the human arm, and a haptic treadmill.
The haptic renderer and control architecture were developed primarily on the Haptic Master device. This device was developed with very limited means, but it has served the rehab community well as one of the rare admittance controlled devices in practical use; quite possibly, the only one to ever see production.
Even though the total production run over a period of 17 years was limited to some 70 devices, some of these have been in use from the year 2000 to the present day. It is believed that the practical knowledge gained with this device is worth putting on record. It is hoped that it may serve as a basis for future, hopefully improved admittance controlled machines.
-- P. Lammertse, 2025 --