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This paper describes the development of a 2-DOF electrostatic haptic joystick designed for neuroscience studies in an MRI/fMRI. The joystick is fabricated using non-magnetic materials and actuated by two high-power electrostatic motor units which produce various force fields in the horizontal plane. The electrostatic motor is a synchronous drive and thus the positioning of the joystick is achieved in an open-loop control. As for force sensing, a 2-DOF force sensor is developed usingdoi:10.1109/robot.2009.5152850 dblp:conf/icra/HaraMYCGBH09 fatcat:qugbq53uvzeu3c4jpwb5dpxkeq