 Hello, this is Patrick Dills, and this work focuses on a parallel hybrid actuator we've been working on in our lab. We developed a model of our actuator, which we analyzed from the viewpoints of passivity and uncoupled asymptotic stability. Brake stiffness and filtered feedback allowed the hybrid actuator to render an increased virtual stiffness as compared to active only actuators. However, low bandwidth filtered feedback and large time delays present limitations on the output impedance. We experimentally validated our approach with a single degree of freedom haptic device and experimental results agreed well with our theory.