Patent ID: 8527873

Claim:
A digital processing system having haptic capabilities, comprising: a manipulandum having at least two degrees of freedom; a local interface device configured to be in communication with a host computer configured to keep a plurality of application programs operating in a multi-tasking environment and to maintain a plurality of force profiles associated with at least some of the plurality of application programs, wherein said host computer is configured to provide haptic instructions to said local interface device in response to one of said plurality of force profiles of said plurality of application programs and movements of said manipulandum, said local interface device coupled to said manipulandum and configured to detect said movements of said manipulandum, said local interface device comprising a local microprocessor, said local microprocessor configured to: maintain a screen reference frame, maintain a cursor position within said screen reference frame, maintain at least one device reference frame and a device position of said local interface device within said device reference frame, wherein said device reference frame is associated with said screen reference frame and said device position is associated with said cursor position, translate said device position within said device reference frame to said cursor position within said screen reference frame, and selectively activate at least one of a plurality of actuators to create a force feedback at least partially in response to said haptic instructions.