Technology and science have been developing rapidly, and robotic system for human support has been researched recently. Considering the effect of low birthrate and longevity, the system is thought to become important in the future. In this research, environmental embedded haptic system for human support is developed. In order to realize the haptic system, impedance control with positive feedback is proposed. In this research, the stability analysis of the system is mainly focused on, and it is conducted by displacement poles. The validity of the proposed method is shown by simulation and experimental results.