Dynamically balanced, multi-degrees-of-freedom hand held controller

A controller for generating control inputs for at least four degrees of freedom, comprising:

• a first control member shaped for gripping by a user's hand, the first control member being adapted for displacement by the user in at least two degrees of freedom relative to a predetermined frame of reference;
• a first sensor for measuring displacement of the first control member in each of at least two degrees of freedom;
• a second control member mounted on the first control member for displacement relative to the first control member in two or more degrees of freedom, the second control member being located on the first control member in a position that allows for its displacement in at least one of the second control member's two or more degrees of freedom by a thumb or index finger on the user's hand while gripping the first control member;
• and
• a second sensor for measuring displacement of the second control member in each of its two or more degrees of freedom of relative to first control member.