An input device includes a handle coupled to a base by a linkage. The handle is manually movable relative to the base to provide a position input. The linkage has a plurality of links including a redundant link that permits internal motion of the linkage such that the linkage can move without moving the handle relative to the base. When a distance between the handle and a handle stop position is less than a threshold distance, a handle stop applies a first load to the handle. A drive system applies a second load to the redundant link responsive to the first load to create internal motion of the linkage that increases a distance between the handle and a handle stop position. The second load may be proportional to a cosine of an angle between a handle axis of motion and a redundant link axis of motion.