Patent ID: 8077145

Claim:
A system comprising: a host computer system for receiving an input control signal and for providing a high-level host command having at least one parameter to control forces, wherein said at least one parameter comprises magnitude parameter or a duration parameter, wherein said host computer system updates a process in response to said input control signal, and wherein said host computer system is configured to provide said high-level host command in response to receiving said input control signal; and a user interface apparatus comprising a housing and a user-manipulable object, and having disposed within the housing: a processor for receiving said high-level host command from said host computer system and in response to receiving said high-level host command, generating a processor output control signal based on the high-level host command and the at least one parameter, wherein, if said parameter is a magnitude parameter, a magnitude of the processor output control signal is based on said magnitude parameter, wherein, if said parameter is a duration parameter, a duration of the processor output control signal is based on said duration parameter, and generating and providing the processor output control signal based on said sensor signal, an actuator for receiving said processor output control signal and providing a force along a degree of freedom to said user-manipulable object in accordance with said processor output control signal, said user-manipulable object being coupled to said actuator and being graspable and movable by said user, and a sensor for detecting motion of said user-manipulable object along said degree of freedom and outputting a sensor signal including information representative of the position and motion of said user-manipulable object, wherein said processor is further configured to provide said input control signal to said host computer system.