A device comprises a manipulandum moveable in at least two degrees of freedom including a first link rotatably moveable about a pivot axis and a second link rotatably moveable about a pivot axis. The first link and the second link are coupled to a ground member. A first actuator is configured to engage the first link and provide an output about a drive axis of the first actuator. A second actuator is configured to engage the second link and provide an output about a drive axis of the second actuator. The drive axis of the first actuator is substantially parallel to the drive axis of the second actuator. The first actuator and the second actuator are each configured to receive a signal associated with a force feedback. The force feedback being associated with the manipulandum.