US Patent 8002089 Systems and methods for providing a haptic device

Systems and methods for providing a haptic device are described. In one described system, a first brake surface of a first element contacts a second brake surface of a second element. At least one actuator is configured to exert a force on at least one of the first and second elements. A flexure is coupled to at least one of the first element, the second element, a housing, a manipulandum, and a shaft coupled to the manipulandum. The flexure provides a degree of rotational flexibility to the manipulandum when the at least one actuator exerts the force. The described system may include a processor in communication with the at least one actuator for providing the haptic effects.