A user interface device, UID, comprising: a frame including a base assembly (120, 1920, 3520, 4620) and a top assembly (110, 1910, 3510, 4610), wherein the top assembly is in a fixed position relative to the base assembly; an actuator assembly (430, 2130, 3810) disposed between the top assembly and the base assembly, the actuator assembly including: an outer actuator element (810, 2510, 3310, 4010, 4730, 4830) having a cylindrical shape; an inner actuator element (830, 2530, 3330, 4030, 4735, 4835); an outer spring array including a plurality of springs (820, 2520, 4020) mechanically coupling the outer actuator element to the inner actuator element; an inner spring array including a plurality of springs (840, 2540, 4040) mechanically coupling the inner actuator element to the frame or to an element coupled to the frame; and a plurality of magnets (860, 2560, 4060, 4660, 4760) disposed on the outer actuator element in an equidistant circular array; and a printed circuit board (870, 2570, 3870) having a processing element (1810, 4150) and a plurality of multi-axis magnetic sensors (970, 2670, 4210, 4665, 4765), the printed circuit board disposed within the frame between the top assembly and the base assembly for sensing positional information associated with ones of the plurality of magnets and providing one or more sensor output signals corresponding to the sensed positional information to the processing element; wherein the processing element generates a UID output signal corresponding to a position, movement, displacement or deformation of the actuator assembly based at least in part on the multi-axis magnetic sensor outputs. a frame including a base assembly (120, 1920, 3520, 4620) and a top assembly (110, 1910, 3510, 4610), wherein the top assembly is in a fixed position relative to the base assembly; an actuator assembly (430, 2130, 3810) disposed between the top assembly and the base assembly, the actuator assembly including: an outer actuator element (810, 2510, 3310, 4010, 4730, 4830) having a cylindrical shape; an inner actuator element (830, 2530, 3330, 4030, 4735, 4835); an outer spring array including a plurality of springs (820, 2520, 4020) mechanically coupling the outer actuator element to the inner actuator element; an inner spring array including a plurality of springs (840, 2540, 4040) mechanically coupling the inner actuator element to the frame or to an element coupled to the frame; and a plurality of magnets (860, 2560, 4060, 4660, 4760) disposed on the outer actuator element in an equidistant circular array; and an outer actuator element (810, 2510, 3310, 4010, 4730, 4830) having a cylindrical shape; an inner actuator element (830, 2530, 3330, 4030, 4735, 4835); an outer spring array including a plurality of springs (820, 2520, 4020) mechanically coupling the outer actuator element to the inner actuator element; an inner spring array including a plurality of springs (840, 2540, 4040) mechanically coupling the inner actuator element to the frame or to an element coupled to the frame; and a plurality of magnets (860, 2560, 4060, 4660, 4760) disposed on the outer actuator element in an equidistant circular array; and a printed circuit board (870, 2570, 3870) having a processing element (1810, 4150) and a plurality of multi-axis magnetic sensors (970, 2670, 4210, 4665, 4765), the printed circuit board disposed within the frame between the top assembly and the base assembly for sensing positional information associated with ones of the plurality of magnets and providing one or more sensor output signals corresponding to the sensed positional information to the processing element; wherein the processing element generates a UID output signal corresponding to a position, movement, displacement or deformation of the actuator assembly based at least in part on the multi-axis magnetic sensor outputs.