I designed a handheld haptic robot for a large tabletop touchscreen, able to exert force feedback on the user while using it to navigate the screen environment like a computer mouse. This project was motivated by haptic upper limb stroke rehabilitation technology, and can present the user with path following and obstacle avoidance challenges. It uses a passively driven, actively steered wheel to present the user with forcefields while still requiring them to exercise their own control to move the device through the environement. It senses interaction forces via 3D printed flexures and Hall effect sensing of an embedded magnet, allowing the haptic response to be tuned to the user's need for assistance.