A device comprises a housing, a sensor, a controller and an actuator. The sensor is configured to detect a contact force exerted on the housing. The controller is communicatively coupled to the sensor and is configured to determine a change in a haptic effect caused by the contact force. The controller is additionally configured to generate an output instruction to deliver the haptic effect in a compensated form that is operable to correct the change. The actuator is configured to receive the output instruction and deliver the compensated haptic effect at the housing.