When users interact with touch screen, effective and realtime haptic interaction technology is very important to enhance the sense of reality and immersion. In this work, a fingerskeleton wearable haptic interactive device is designed to interact with images on a touch screen. The device can provide continuously controllable force feedback for the finger by planar fourbar linkage and DC motor. Two types of vibrotactile feedbacks by a linear resonant actuator and piezoceramic actuator can also be provided. The device uses Bluetooth technique and rechargeable battery to achieve miniaturization and portability, which is small size and light weight. In order to display space haptic information of virtual objects in an image, realtime haptic modeling algorithm is introduced. When operator uses the haptic device to slide on an image, feature information of the image can be transmitted to the device via Bluetooth, including the height of each pixel, the edges of an image and the shape of virtual objects, so that operator can get multimode haptic sensation. Finally, haptic interaction experiments are carried out to evaluate the performance of the haptic device in displaying the height, contour and edge of an image.