中文摘要：

针对机器人力反馈主手在大刚度环境下的稳定性和透明性下降问题，提出了一种力觉渲染与反馈的自适应算法。通过改进虚拟墙壁模型引入力的空间梯度，根据力信号随主手末端位置的变化率来自适应选取不同的控制策略，对大刚度环境下的阻抗显示力反馈主手的力觉输出进行渲染。仿真试验表明，该算法可在消除振荡、保障系统稳定的基础上，恢复输出刚度，提高系统的操作透明性。

英文摘要：

The stabihty and transparency of the robotic master with force reflection will be degraded under large stiffness of the environment. An adaptive algorithm of haptic rendering was proposed to solve this problem by modifying the model of the virtual wall and introducing the concept of force space gradient. The methods of haptic rendering of the impedance display master under large stiffness were automatically selected according to the change rate of the force with respect to the end position of the robotic master. Simulation results showed that the proposed algorithm of haptic rendering can not only eliminate the force oscillation to keep stability, but also can recover the real output stiffness to improve the transparency of robotic master.