User interface devices are disclosed. The device can include a body that can be held in a users hand. The body has an outer surface that can be gripped by fingers of the users hand to facilitate translation and rotation of the body by the users hand. The device can include one or snore sensors disposed within the body. In some embodiments, the one or more sensor can provide one or both of position and orientation information of the body to a control system. The body can provide feedback to the user via the exterior surface of the body that is gripped by the users fingers and/or can receive control inputs from the user via one or more of translation of the body, rotation of the body, pressing of the outer surface with the users fingers, and changing of the angular orientation of the longitudinal axis of the body. Methods of using a user interface device are also provided.
