A method and apparatus for controlling and providing force feedback using an interface device manipulated by a user. A microprocessor is provided local to the interface device and reads sensor data from sensors that describes the position and/or other information about an object grasped and...http://www.google.de/patents/US5739811?utm_source=gb-gplus-sharePatent US5739811 - Method and apparatus for controlling human-computer interface systems providing force feedback 
