Patent ID: 7283123

Claim:
A haptic feedback device comprising: an actuator operative to apply a force along an axis approximately perpendicular to a substantially unbounded planar workspace; and a local processor in communication with the actuator, the local processor configured to: receive a sensor signal from a sensor, wherein the sensor signal is associated with a change in a position of the haptic feedback device in the substantially unbounded planar workspace, transmit sensor data to a host processor, the sensor data associated with the sensor signal, receive force information from the host processor, the force information comprising a texture sensation having at least one force parameter describing at least one force to be output based at least in part on an interaction of a graphical object with a texture field, the force information further comprising a high level force command comprising the texture field, the texture field comprising a boundary, store the texture field, determine a modeled position of the graphical object, the modeled position based at least in part on the sensor data, determine whether the modeled position of the graphical object is within the boundary of the texture field, determine the interaction, and determine when to output the at least one force based at least in part on the interaction.