This paper presents a new force-torque input device that can be used to navigate within any kind of anatomical atlas. As an example, we demonstrate how it can be used to drive a virtual knee joint. The device is comprised by a realistic phantom shank that is attached to a self-made high-sensitive force-torque sensor. It records forces and moments in six degrees-of-freedom and feeds them into a biomechanical model of the knee. Resulting joint movements and sounds are displayed by a visual and acoustic display, respectively. The entire multi-modal simulation environment can provide a better understanding of joint anatomy, e.g. for the education of medical students. Furthermore, it can be a practical tool for resident orthopaedic physicians in order to enhance the consultation, clarification, and treatment planning together with the patient.