Force-torque measuring input devices can significantly enhance the performance of classical simulation environments that are, for example, based on pure passive phantoms. Such devices allow not only the determination of force/torque amplitude and direction but also the contact point, where a torque-free force is applied to the phantom. The force/torque information can be displayed visually or acoustically, drive a realistic graphical animation environment or it can be saved and compared with a haptic library comprising the force/torque history of any medical specialist.