The present invention discloses a minitype haptic rendering method based on active and passive devices, which comprises the following steps of: firstly, calibrating a magnetorheological damper and a direct current motor, and obtaining a relationship between an input current and an output torque; converting an expected force/torque value to a current input of the magnetorheological damper, outputting a corresponding torque through the magnetorheological damper, and applying the torque to a body of an operator through a haptic transmission device; secondly, measuring an actually applied force/torque by a sensor mounted at a force/torque application point, comparing an actually outputted force/torque value with the expected force/torque value, and calculating a force/torque error; and finally, converting the force/torque error to an input signal of the direct current motor, and driving the direct current motor to generate a torque corresponding to the error.