An input device for an interactive computer simulation or game is disclosed which includes a structure having at least two degrees-of-freedom which is moveable by a digit of a user to transmit input signal to a computer. At least one actuator connected to the moveable structure receives inputs from a computer and applies forces in the at least two degrees-of-freedom to the movable structure and thereby to the digit of the user. The actuator may include an electric motor and any of a variety of force transmission schemes including direct, cable, gear or belt drives. The applied forces are typically based on internal programming within the computer, events occurring in the simulation and movements of and forces applied to the movable structure by the operator. The input device of the invention thereby provides continuous interaction among motion of and forces applied by the movable structure, the events in the simulation and forces applied to and applied by the movable structure to enhance user enjoyment and performance.