1. A method, comprising: receiving a signal associated with a motion of a manipulandum in a degree of freedom; determining a position and a direction of the motion of the manipulandum in the degree of freedom based on the signal; outputting a first force signal if the determination indicates that the manipulandum moves towards a predetermined position in the degree of freedom; and outputting a second force signal if the determination indicates that the manipulandum moves away from the predetermined position in the degree of freedom.