A surgical system comprising: an input device ; a first actuator coupled to the input device; a second actuator coupled to the input device ; and a controller ; wherein the input device is capable of receiving input from a user and providing a haptic feedback force to the user; wherein the first actuator has a maximum output threshold force and a minimum reliable output level force; wherein the second actuator has a maximum output threshold force and a minimum reliable output level force; wherein a working range of the first actuator is defined by an upper limit at or below the maximum output threshold force of the first actuator and a lower limit at or above the minimum reliable output level force of the first actuator ; wherein a working range of the second actuator is defined by an upper limit at or below the maximum output threshold force of the second actuator and a lower limit at or above the minimum reliable output level force of the second actuator; wherein the controller determines a first commanded output haptic feedback force for the first actuator to provide to the input device and a second commanded output haptic feedback force for the second actuator to provide to the input device ; wherein on a condition in which the first commanded output haptic feedback force would fall outside the working range of the first actuator , the controller applies a common first scaling factor to the first commanded output haptic feedback force for the first actuator to provide to the input device and to the second commanded output haptic feedback force for the second actuator to provide to the input device ; wherein the first scaling factor adjusts the first commanded output haptic feedback force to be within the working range of the first actuator ; and wherein the first scaling factor adjusts the second commanded output haptic feedback force to be within the working range of the second actuator. an input device ; a first actuator coupled to the input device; a second actuator coupled to the input device ; and a controller ; wherein the input device is capable of receiving input from a user and providing a haptic feedback force to the user; wherein the first actuator has a maximum output threshold force and a minimum reliable output level force; wherein the second actuator has a maximum output threshold force and a minimum reliable output level force; wherein a working range of the first actuator is defined by an upper limit at or below the maximum output threshold force of the first actuator and a lower limit at or above the minimum reliable output level force of the first actuator ; wherein a working range of the second actuator is defined by an upper limit at or below the maximum output threshold force of the second actuator and a lower limit at or above the minimum reliable output level force of the second actuator; wherein the controller determines a first commanded output haptic feedback force for the first actuator to provide to the input device and a second commanded output haptic feedback force for the second actuator to provide to the input device ; wherein on a condition in which the first commanded output haptic feedback force would fall outside the working range of the first actuator , the controller applies a common first scaling factor to the first commanded output haptic feedback force for the first actuator to provide to the input device and to the second commanded output haptic feedback force for the second actuator to provide to the input device ; wherein the first scaling factor adjusts the first commanded output haptic feedback force to be within the working range of the first actuator ; and wherein the first scaling factor adjusts the second commanded output haptic feedback force to be within the working range of the second actuator. <EOS>