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This paper explores using industrial robotics equipment in a haptic (or kinesthetic) force display system conceived for mechanism design applications. The dynamics and kinematics of an aircraft jlight control columrhvheel are simulated as a human interacts directly with the end effector of a commonly available robotic manipulator. An admittance control paradigm is used for developing a haptic system wherein realistic simulation of the dynamic interaction forces between a human user and the simulated virtual object or mechanism is required. Experimental results are presented which demonstrate human user interaction with the virtual mechanism.

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