A method of testing a haptic device that includes an actuator and has a first weight includes placing the haptic device on a test fixture that has a second weight that is greater than the first weight. The haptic device is placed on the test fixture so that the actuator within the haptic device is substantially close to the center of gravity of the test fixture. The method further includes causing the haptic device to generate haptic effects via the actuator, and measuring the acceleration of the test fixture during the haptic effects.