# Inertial Properties in Haptic Devices: Non-Linear Inertia Shaping vs. Force Feedforward

> Research article (IFAC-PapersOnLine, 2018) · cited 10× · AI/ML

**Wikidata**: [openalex:W2902156994](https://www.wikidata.org/wiki/openalex:W2902156994)  
**Source**: https://4ort.xyz/entity/inertial-properties-in-haptic-devices-non-linear-inertia-shaping-vs-force-feedforward