A haptic device is proposed which gives the user feedback information on their location and orientation of the obstacle through the mobile robot that detects the obstacle in an environment where the user cannot see.Mobile robot recognizes the exact position of the obstacle through configuring the nested ultrasonic sensor and giving feedback information to the haptic device.The haptic device consisting of five vibration motors can realize the haptic through the vibration of user’s finger using the position information of the obstacle received feedback.In addition,it has high accuracy to recognize the surrounding environment and realizes the various situations with the fuzzy controller and the nested ultrasonic sensors. A haptic device is proposed which gives the user feedback information on their location and orientation of the obstacle through the mobile robot that detects the obstacle in an environment where the user can not see. Mobile robot recognizes the exact position of the obstacle through configuring the nested ultrasonic sensor and giving feedback information to the haptic device. The haptic device consisting of five vibration motors can realize the haptic through the vibration of user’s finger using the position information of the obstacle received feedback. In addition, it has high accuracy to recognize the surrounding environment and realizes the various situations with the fuzzy controller and the nested ultrasonic sensors.