This study proposes Bstick, the first handheld-type haptic controller that can monitor and control the placement of five fingers in real-time using linear motors attached on the fingers. As a handheld device, it can be used with both hands, and it was designed and produced to allow it to be freely moved and used with other virtual reality (VR) devices via Bluetooth. Bstick also provides stiffness that can maintain the pressing forces of an adult man’s fingers, providing a realistic sense of grabbing and controlling a virtual object with rigidity and softness. By changing the location of the finger buttons, the device can render virtual objects of various shapes and sizes. A component that can be implemented in the Unity game engine was developed to provide convenience in the content development, using a haptic controller feature where a user can move five fingers independently, and this was applied for hand rehabilitation contents. Bstick includes five linear motors that can sustain approximately 22 N of force per finger, and the hardware and circuitry are compact, so as to be held in the user’s hand. Bstick can be used to create VR services and contents based on five-fingered force feedback using a haptic controller that can independently manage the motions of five fingers, and Unity game engine software that can modify hardware.