Patent ID: 7151527

Claim:
An apparatus comprising: a manipulandum movable in at least two rotary degrees of freedom, wherein said at least two rotary degrees of freedom comprise a first and a second rotary degree of freedom, wherein an axis of rotation of said first rotary degree of freedom is substantially perpendicular to an axis of rotation of said second rotary degree of freedom; a sensor operable to detect a position of said manipulandum and a deviation of said manipulandum from said position and to output a first sensor signal associated with said deviation of said manipulandum from said position; a first actuator operable to provide tactile feedback to said manipulandum in a first of said at least two degrees of freedom, the tactile feedback associated with said first sensor signal; a second actuator operable to provide tactile feedback to said manipulandum in a second of said at least two degrees of freedom, the tactile feedback associated with said first sensor signal; and a first processor operable to control said first actuator and said second actuator and to receive said first sensor signal from said sensor.