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Fu, W. (author), van Paassen, M.M. (author), Mulder, Max (author)Limitations of a haptic device can cause distortions of the force feedback it presents. Just-noticeable difference (JND) in system dynamics is important for creating transparent haptic interaction. Based on the previous work, this article presents a unified model that extends the existing JND rule. Our approach projects the JNDs in the...journal article 2020