A set of haptic elements (haptels) (500) are arranged in a grid (600). Each haptel is a haptic feedback device with linear motion and a touchable surface (116) substantially perpendicular to the direction of motion. In a preferred embodiment, each haptel has a position sensor which measures the position of the surface within its range of travel, a linear actuator which provides a controllable vertical bi-directional feedback force, and a touch location sensor on the touchable surface. All haptels have their sensors and effectors interfaced to a control processor (904). The touch location sensor readings are processed and sent to a computer (916), which returns the type of haptic response to use for each touch in progress. The control processor reads the position sensor, derives velocity, acceleration, net force and applied force measurements, and computes the desired force response for each haptel.
FORCE FEEDBACK COMPUTER INPUT AND OUTPUT DEVICE WITH COORDINATED HAPTIC ELEMENTS