A force sense presentation device for presenting a sense of force in virtual space to a user, comprises: a fixed unit which is gripped by the user; a force sense presentation unit which presents a sense of force; an actuator which supplies a driving force and operates the force sense presentation unit relative to the fixed unit; a joint unit which is provided between the fixed unit and the force sense presentation unit, and guides the relative operation of the force sense presentation unit; and a force sense rendering unit which controls the relative operation of the force sense presentation unit by the actuator, wherein the force sense presentation device simulates a device which is gripped and used by the user, and the force sense rendering unit controls the relative operation of the force sense presentation unit based on a position and orientation of the device in the virtual space.