A method and apparatus for providing force sensations in virtual environments includes a human/computer interface device and method used in conjunction with a host computer and which can provide feel sensations to a user of the device. A user manipulatable object physically contacted by a user, such...http://www.google.fr/patents/US6437771?utm_source=gb-gplus-shareBrevet US6437771 - Force feedback device including flexure member between actuator and user object
Force feedback device including flexure member between actuator and user object
