As various user experiences are possible in virtual reality (VR), the need for more effective and precise haptic feedback is emerging. Therefore, this thesis proposes a wrist-mounted haptic controller that can directly provide feedback on various physical interactions occurring within VR. The controller in this study provides force feedback based on a motor system to realize the physical characteristics of a virtual object or environment and applies a Force Sensing Register (FSR) to directly measure the force applied to the user's palm. In this study, a controller design using a single link system was explored to provide a wide range of activities while applying a design to minimize the limitation of heavy and weak durability of the existing motor system device.