Abstract: Apparatus for determining the absolute position of a point on a surface including a tablet or overlay and a moveable mouse-type cursor. The tablet includes a unique pattern of lines or regions along rectilinear or other axes. A series of adjacent spaces formed by the lines define unique cells on the tablet. The mouse includes a pair of linear imaging arrays adapted to detect the presence of tablet lines adjacent thereto. An integrated processor identifies the line types, computes line spacings and ratios, and identifies subtending cells by comparison to the known tablet topography. The processor further computes the precise location of a point defined on the mouse.

Abstract: A hand controller or `cursor` for the actuation of slaved apparatus. The cursor includes a handle extending from a line attachment member comprised of four equally spaced legs. The ends of these legs define vertices of a regular tetrahedron. The cursor is supported within a subtending structure by a plurality of tension lines which may be connected to torque motors or to another controlled device. A control computer preferably interfaces the present controller with the slaved apparatus wherein signals representative of the several tension line lengths are translated by the computer into control signals actuating the slaved device. In addition, force transducers on the slaved mechanism generate signals representative of the forces encountered by the slaved device which, in turn, are translated by the computer into torque motor control signals thereby providing interactive cursor force-feedback.