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The goal of control law design for haptic displays is to provide a safe and stable user interface while maximizing the operator's sense of kinesthetic immersion in a virtual environment. This paper outlines a control design approach which stabilizes a haptic interface when coupled to a broad class of human operators and virtual environments. Two-port absolute stability criteria are used to develop explicit control law design bounds for two different haptic display implementations: impedancedoi:10.1109/87.974333 fatcat:ub5pvzmspnbd3csenhaqmh5df4