Figure 8.

By reducing virtual stiffness V, proportional gain P can be increased. By reducing the controller' proportional gain to P = 0.95, parallel damping of b = 200 Ns/m is sufficient for the VSP' passivity when emulating a HIGH impedance environment (V = 12000 N/m) (a). However, P can be increased if a lower virtual stiffness V is desired (b).