A device configured to be held in a hand and manipulated to provide inputs, the device comprising: finger rests that substantially face away from each other, the finger rests being substantially rigid; one or more force sensors that are positioned under the finger rests , the one or more force sensors being configured to sense forces applied against the finger rests by fingers; a trackpad configured to sense a position of one of the fingers that touches the trackpad ; one or more actuators that are positioned and configured to provide haptic sensations on the finger rests and/or the trackpad ; a processor configured to: generate the input signals based at least on forces applied by the fingers on the finger rests and/or the position of the one of the fingers on the trackpad ; and drive the one or more actuators based at least on output signals; a transceiver configured to transmit the input signals and receive the output signals; characterised in one or more restraints that are attached to one or more of the finger rests , the one or more restraints and the one or more finger rests being configured to form one or more loops around the fingers, wherein the one or more force sensors are mechanically biased, and wherein the one or more force sensors are capable of sensing the fingers pulling on the one or more restraints away from one or more of the finger rests . finger rests that substantially face away from each other, the finger rests being substantially rigid; one or more force sensors that are positioned under the finger rests , the one or more force sensors being configured to sense forces applied against the finger rests by fingers; a trackpad configured to sense a position of one of the fingers that touches the trackpad ; one or more actuators that are positioned and configured to provide haptic sensations on the finger rests and/or the trackpad ; a processor configured to: generate the input signals based at least on forces applied by the fingers on the finger rests and/or the position of the one of the fingers on the trackpad ; and drive the one or more actuators based at least on output signals; a transceiver configured to transmit the input signals and receive the output signals; characterised in one or more restraints that are attached to one or more of the finger rests , the one or more restraints and the one or more finger rests being configured to form one or more loops around the fingers, wherein the one or more force sensors are mechanically biased, and wherein the one or more force sensors are capable of sensing the fingers pulling on the one or more restraints away from one or more of the finger rests . generate the input signals based at least on forces applied by the fingers on the finger rests and/or the position of the one of the fingers on the trackpad ; and drive the one or more actuators based at least on output signals; a transceiver configured to transmit the input signals and receive the output signals; characterised in one or more restraints that are attached to one or more of the finger rests , the one or more restraints and the one or more finger rests being configured to form one or more loops around the fingers, wherein the one or more force sensors are mechanically biased, and wherein the one or more force sensors are capable of sensing the fingers pulling on the one or more restraints away from one or more of the finger rests . <EOS>