This paper discusses the potential of force perception technologies for realizing hand-held devices in the field of social systems. We introduce an interactive system based on force perception technology called "Come Over Here, or Catch You!", which is a force-sensation-based navigation system for waiters. It consists of our new hand-held haptic interface which can provide perceptually continuous and translational force, and a position and posture identification system. Since the proposed compact haptic interface does not require an external ground, it can be used outside the laboratory and does not interrupt human behavior. We verify the feasibility of the system in trials.