Method and apparatus for compensating for position slip in interface devices
that may occur between a manipulandum and a sensor of the device due to a mechanical
transmission. A device position delta is determined from a sensed position of a
manipulandum of an interface device. It is determined if position slip has occurred
caused by a change in position of the manipulandum that was not sensed by a sensor
of the interface device, typically caused by a mechanical transmission between
sensor and manipulandum. If position slip has occurred, an error in the sensed
position caused by the position slip is corrected by adjusting the sensed position
to take into account the position slip. The adjusted position delta is used as
the position of the manipulandum and the display of objects controlled by the interface
device are accordingly compensated.
