Haptic profiles for input controls of a computer-assisted device

A method, comprising:

• detecting a position of a grip input control in a first direction of a degree of freedom of the grip input control, the degree of freedom having a first region, a second region, and a third region between the first region and the second region;
• in response to determining that the detected position is in the first region, operating an instrument supported on a repositionable arm according to a first operating mode;
• in response to determining that the detected position is in the third region, providing a haptic barrier to resist movement of the grip input control through the third region;
• and
• in response to determining that the detected position is in the second region, operating the instrument according to a second operating mode different from the first operating mode.

One or more non-transitory machine-readable media comprising a plurality of machine-readable instructions which when executed by one or more processors are adapted to cause the one or more processors to perform a method comprising:

• detecting a position of a grip input control in a first direction of a degree of freedom of the grip input control, the degree of freedom having a first region, a second region, and a third region between the first region and the second region;
• in response to determining that the detected position is in the first region, operating an instrument supported on a repositionable arm according to a first operating mode;
• in response to determining that the detected position is in the third region, providing a haptic barrier to resist movement of the grip input control through the third region;
• and
• in response to determining that the detected position is in the second region, operating the instrument according to a second operating mode different from the first operating mode.