US Patent 10124252 Programmable haptic peripheral

A system includes a host computer, a processor, and a haptic peripheral. The haptic peripheral includes a manipulandum movable in at least one degree of freedom, an inertial haptic output device, and a haptic output device. The inertial haptic output device is coupled to the manipulandum, and is configured to receive a control signal from the processor and output a transient haptic effect to the manipulandum in response to the control signal from the processor. The haptic output device is configured to receive a control signal from the processor and modify the stiffness of the manipulandum in response to the control signal from the processor.