 Hello, this is Patrick Dills, and this work focuses on the stability of admittance-controlled haptic devices. Haptic devices must be able to stably achieve a wide range of impedances. Admittance-type devices typically have trouble stably rendering small impedances. We analyzed a model composed of a virtual admittance, a position controller, and a human's impedance model. Simplifying this model results in expressions for the minimum pure virtual stiffness and damping, along with numerical results of minimum combinations of mass stiffness and damping. We experimentally validated these results with the user study, and theoretical results match our experimental results well.