A module includes a permanent magnet biased electromagnetic haptic engine having a stator and a rotor; a constraint coupled to the stator and the rotor; and a force sensor at least partially attached to the permanent magnet biased electromagnetic haptic engine and configured to sense a force applied to the rotor. The constraint is configured to constrain closure of a gap between the rotor and the stator and bias the rotor toward a rest position in which the rotor is separated from the stator by the gap.