Master controller having redundant degrees of freedom and added forces to create internal motion

A method of controlling a robotic surgical system, the method comprising:

• receiving a position input from manually moving a handle relative to a base;
• receiving a distance between the handle and a handle stop position;
• and
• when the distance is less than a threshold distance,
• applying a first load to the handle to push the handle away from the handle stop position, and
• applying a second load to a redundant link of a linkage that couples the handle to the base responsive to the first load, the second load creating internal motion of the linkage without moving the handle relative to the base such that the distance between the handle and the handle stop position is increased.

An input device comprising:

• means for providing a position input relative to a base;
• means for applying a first load to the means for providing the position input when a distance between the means for providing the position input and a stop position is less than a threshold distance;
• and
• means for applying a second load to a redundant link of a linkage responsive to the first load, the linkage coupling the means for providing the position input to the base, the redundant link creating internal motion of the linkage without moving the means for providing the position input relative to the base, the second load increasing the distance between the means for providing a position input and the stop position.