This paper presents a haptic augmented reality (AR) system that consists of a real object and a haptic device. The desired force response is achieved by the combination of the real force response of a base object and the virtual force exerted by a haptic device. The proposed haptic AR system can easily generate the force response of an object with a cheap haptic device and a base object. In the haptic AR method, how we select the base object is very important because virtual stiffness provided to users is created by modifying the reaction force profile of the base object. We compare the three method: VR method AR method with a soft object and AR method with a hard object in the questionnaire experiment. These results show that the AR method with a soft object has better performance than the other methods.