HCR - Instability in Haptics

• The Discrete Time introduced a delay, you read and then act after 1 tic (1 tic of the CPU Clock), increased if there is a feedback loop.
• If the delay is too big you cannot use haptics, it breaks the “immersion”
• We want the most realistic haptics (closest to reality as possible)
• The delay should be $t_{delay}\le 13ms$ (the human body cannot recognize a delay lesser than this)