A haptic device includes a drum configured to rotate about an axis, a cord wound around the drum, a user-actuatable lever operatively coupled to the drum and configured to receive a user-actuation force, a position sensor configured to determine a rotational position of the drum, and an actuator operatively coupled to the cord. The actuator may be configured to apply a tension to the cord that further applies friction to brake the drum to cause the user-actuatable lever to provide a user-perceived resistance that opposes the user-actuation force. The user-perceived resistance may vary as a function of the rotational position of the drum.