Résumé
This paper extends previous results on stable haptic and force feedback interaction in the presence of constant and varying time-delay. The proposed method evolved from our previous earlier work where we apply Smith prediction principle on delayed haptic feedbackinteraction. We will show that the proposed approach is easy to implement and it is original since it investigates another way to formulate stable haptic feedback algorithm and can be generalized for n-degree of freedom. It requires to know only the master interface.