Haptic control of a haptic interface should be satisfied robustness and stability at the same time. Disturbance observer can enhance the robustness of the haptic control. However, the compatibility between the haptic control and the haptic simulation is a problem to use the disturbance observer. Moving average filter is suggested to solve the compatibility problem. The disturbance observer using the moving average filter has no limit to build in any development platforms. We accomplished a stability analysis of the disturbance observer using the moving average filter. The analysis results shows that stability is satisfied. Therefore, the moving average filter is the solution of robustness, stability, and the compatibility problems.