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A haptic system for verification of skillful human movements controlling locomotion of hemisphere on plane is presented. The dynamics model of the non-holonomic rolling system is derived, and a solver, required for the real-time haptic interaction, is implemented. Experimental motion data recorded by the haptic system are analyzed and common features of the human movement are found. Based on these features, a simple mechanical engine propelling the hemisphere is proposed and simulated. Different models of feedback haptic forces specific for non-holonomc system control lire tested during the experiments.