A device which consists of a spherical rotary joint module which has the capability of Ascertaining the degree of rotation on two axes.Resist rotation to give a feel of force feedback using an electromagnetic clutch. Can rotate on its own on the two perpendicular axis independently.Also describes a linear joint module which canAscertain the length of elongation.Resist the elongation to give a feel of force feedback using an electromagnetic clutch.Can change its length on its own as controlled.

The three actions mentioned above can be done independently or as combination with each other or all the three together at one time.The device modules can be combined together and can be used for Input data about the position, motion or the orientation of the end effecter in Three Dimensional Space.Act as a haptic device or force feedback system where the motion can be resisted in a controlled way depending on the position and orientation of the end effecter in Three Dimensional Space.Act like a robot system where the end effecter can be made to follow a path in Three Dimensional Space.The device can be made to have only one of the above capabilities or any two of the capabilities or all three capabilities at the same time.

Motorised Force Feedback Device Rotary Joint Module using Spherical Section Friction Clutch Mechanism