To address the research gap in spinal electrode implantation robots, a force feedback master device imitating surgeons’ manual operations was proposed, with experimental validation conducted. The degrees of freedom and motion patterns of the master device controller were determined through motion analysis of the electrode implantation procedure. A master-slave control system was then constructed, with an STM32 microcontroller serving as the embedded control core. The slave robot motion was modeled to reproduce the operator’s actions accurately, and contact force noise at the slave end was effectively suppressed using a Kalman filtering approach. The contact force at the slave robot was reproduced through motor driving. Based on friction parameter identification, a friction compensation strategy was developed using the Stribeck friction model, enabling accurate force rendering at the master device. Experimental results demonstrate that the proposed master device controller enables the slave robot to rapidly and stably complete the spinal electrode implantation task. The active compensation method based on friction compensation significantly reduces the force error. The proposed force feedback master device provides a theoretical basis for the realization of robot-assisted spinal cord electrical stimulation surgery and offers an application reference for high-fidelity force feedback in surgical robots.