A mobility system includes a mobility module that measures and controls a mobility state of the mobility system and an operation module that receives a movement input of the mobility system. The operation module is configured to identify the mobility state through the mobility module, measure a force or torque depending on the movement input, calculate a restoring torque satisfying a critical velocity or a critical acceleration, based on the mobility state and the measured force or torque, and provide feedback on the movement input depending on the determined restoring torque.