Figure 3.

(a) An NIS paradigm in which kinematic parameters are decoded and sent to either a virtual object or a physical plant, both of which passively follow the kinematic commands. In the case of a physical plant, a proportional-derivative (PD) controller parameterized by a stiffness (K) and viscosity (B) generates a force or torque signal such that the plant is forced to follow the desired kinematics. (b) An NIS paradigm in which kinetic parameters are decoded and act as control variables on a dynamic system.