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elasticity - damper: This element stores elastic potential energy and can express
the coupling (viscoelastic) between an actuator and a manipulator (Figure 9.11);
transmission line without losses (physical channel): This element can represent
a transmission delay between a master post and a slave post. We observe the
characteristic impedance of the line (Figure 9.12).
Such a representation is useful during physical interpretation of the elements intro-
duced to obtain passivity, like virtual coupling, which can be simply seen as a standard
proportional-integrator element in automation. Inversely, they can be used to analyse
the elements contained in a diagram.
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