At my first job we once developed our own controllers with haptic feedback for our surgical training simulation. It was amazing how realistic the feel was. The

At my first job we once developed our own controllers with haptic feedback for our surgical training simulation. It was amazing how realistic the feel was. The motors were quite powerful and there were a few close calls which really made you think. It used to twitch violently as it was calibrating on initializing. Once, it reset and did that while testing. Luckily the person holding it managed to get his hands out of the handles on time. Another tim the tip of one instrument had broken off and during initialization there was an error in the force applied in the direction along the shaft. It flew out like a rocket.