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The authors have developed a force-sensing mechanism composed of a force sensor device and an outer shell end-effector. The sensor can be used to sense force at any position on the body and calculate the position of a contact point without the need for a sensor array. The present study applies the force sensing mechanism as a haptic interface similar to a touch panel. Some technical issues for touch panel application in human environment are also shown. Finally, experimental results reveal that the proposed mechanism works as both a touch panel and a force sensor.