A force feedback interface device is coupled to a host computer that
displays a graphical environment, the device including a user
manipulatable object physically contacted and moveable by a user. A sensor
detects a position of the user object and provides a sensor signal to the
host computer, where the sensor signal includes information representative
of the position of the user object. An actuator is coupled to the device
or user object and outputs a force on the user manipulatable object or a
housing of the device. The actuator includes a magnet and a grounded coil,
where the magnet moves approximately within a plane with respect to the
coil, and wherein a current is provided in the coil to generate the force.
Other embodiments provide a magnet that moves in a linear degree of
freedom within a coil housing, or provide an at least partially spherical
magnet providing rotary degrees of freedom to a user manipulatable object
coupled to the magnet. One embodiment includes a planar frame support
mechanism.
