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• The proposed prioritized dissipation method minimizes actuator load by prioritizing dissipation in the rendering direction.method 90%
• The new damping limitation method provides a closed-form formulation, eliminating the need for online optimization.method 90%
• The method is robust in multi-degree-of-freedom (DoF) scenarios, even with actuator and motion anisotropies.technical 90%
• The proposed method is experimentally validated using a 3-DoFs parallel haptic interface.method 95%
• State-of-the-art Time Domain Passivity Approach (TDPA) methods suffer from high conservatism, leading to significant degradation of transparency.limitation 90%
• Existing solutions for actuator limits in haptic interfaces fail to simultaneously account for power limits of each actuator while maximizing transparency.limitation 90%
• The control loop frequency of the experimental setup is 5KHz.technical 95%

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