Portable force feedback controllers (PFFCs) designed to be worn on a user's limb, track the movement of the user's limb, and provide force feedback capability. In some embodiments, the PFFCs may include interchangeable modules that can be quickly and easily connected and disconnected so that the PFFC may be easily modified for a particular application. In yet other embodiments, various PFFC modules are moveably coupled and have at least one degree of freedom so that the PFFC can accurately follow the natural movements of a user's limb.