Patent ID: 8497767

Claim:
A magnetic levitation haptic interface system comprising: (a) a movable levitated part having a substantially hemispherical shape and having at least one wire coil and a stationary part having at least one permanent magnet, wherein said at least one coil is immersed in the field of said at least one permanent magnet; (b) said levitated part having composite structure providing low mass and high mechanical stiffness, incorporating viscoelastic adhesive providing high mechanical damping, and a conductive layer providing electrodynamic damping; (c) at least one optical beacon affixed to said levitated part in active juxtaposition with at least one stationary optical position sensor, thereby providing the position and orientation of said levitated part; (d) a handle attached to said levitated moving part; (e) control means for reading the position and orientation of said levitated part, thereby providing position and orientation of said attached handle manipulated by a person to a computer; and for applying electric current to at least one said coil, thereby providing force as well as torque feedback output from a computer to said attached handle and thence to the person's hand; whereby a person can interact with a computer while feeling forces and torques in his or her hand.