How can i simulate a spring-damper force for bileteral teleoperation like the following picture?

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chuyen hoangcao
chuyen hoangcao el 9 de En. de 2021
i tried to find out the solution but there were some difficulties.The spring and damping gains are selected as 50 Nm/rad and 2 Nms/rad.Ml = [1.4, 1.0]kg.

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