A device includes a housing, a tip configured to be movable with respect to the housing, a resilient element fixed to the tip, a substrate fixed to the housing, a coil mounted or patterned on the substrate, and a controller configured to induce haptic feedback via the tip based on applying a signal to the coil. A surface of the substrate faces the resilient element. The resilient element presses against the surface in response to the tip receding toward the housing. The resilient element includes magnetic material. The signal applied on the coil induces a magnetic driving force on the resilient element.