Method and apparatus for increasing the transmissibility of forces produced by an actuator on a manipulandum. A haptic device, coupled to a host computer, outputs tactile sensations to a user based on interactions and events occurring in a displayed graphical environment. An actuator produces forces and a compliant suspension couples the actuator to the manipulandum. A compliance of the suspension is configured such that the suspension magnifies the forces for a particular frequency range of the forces. The magnified forces are transmitted to the manipulandum to be felt by the user.