The present invention relates to joint simulators, and in particular, to methods and systems for controlling joint simulators by using a haptic mapping technique. A joint simulator is used to closely approximate the conditions within the body, particularly with respect to human and animal joints, and can be used to test and evaluate prosthetics for use in various parts of a human or animal body. The haptic mapping technique improves the rate of convergence of the actual testing forces to the prescribed forces during repetitive performance and life testing. The method is used in conjunction with an impedance-mode servo controller.
