Patent ID: 7456821

Claim:
A device, comprising: a manipulandum moveable in at least a first degree of freedom and a second degree of freedom; a first link including a gear portion, the first link pivotally coupled to a ground member at a first pivot axis, the first pivot axis associated with the first degree of freedom; a second link including a gear portion, the second link pivotally coupled to the ground member at a second pivot axis, the second pivot axis associated with the second degree of freedom, the second pivot axis is substantially parallel to the first pivot axis; a first actuator configured to engage the gear portion of the first link and to provide an output about a drive axis; and a second actuator configured to engage the gear portion of the second link and to provide an output about a drive axis, the first actuator and the second actuator each configured to receive a signal associated with a force feedback, the force feedback being associated with the manipulandum.