The invention discloses a minitype haptic rendering method based on active and passive devices. The method comprises the steps of firstly conducting calibration on a magnetorheological damper and a continuous current dynamo, and obtaining a relationship of an input current and output torque; converting an expected force/torque value to a current of the magnetorheological damper to input, the corresponding torque is output through the magnetorheological damper, and exerting the torque to the body of an operation person through a force tactile transmission device; secondly, measuring actually exerted force/torque through a sensor installed at a force/torque point of action, comparing an actually output force/torque value with the expected force/torque value, and calculating a force/torque error; finally, converting the force/torque error to an input signal of the continuous current dynamo, and driving the continuous current dynamo to generate torque corresponding to the error. According to the minitype haptic rendering method based on the active and passive devices, minitype devices can output large-range and high-precision force/torque, thus haptic rendering equipment is more light and exquisite, and the fidelity of haptic interaction is improved; the method can be widely applied to the fields of virtual reality, teleoperation robot control, medical service and the like.