Taking pulse is a basic skill for medical examination that requires specialized training. Using high-fidelity human simulation mannequin or real specimen may not be appropriated. In this paper, we have developed a pulse simulation to support medical education and training for nursing and medical students. In order to achieve realistic experience, we have integrated Augmented Reality (AR) technology, haptic device and physical medical training tool that respond with force feedback in virtual pulse simulation. The system will support “finger touch” on low cost medical training mannequins. The pulse simulation was programmed to give pulse rate between 40-160 beats per minute (bpm.) using Phantom Omni, which can generate a force for virtual pulses in a range between 0-1 newton (N.) This set up was applied to the low cost medical training mannequins with the help of AR technology to make realistic presentations. The evaluation of the system was carried out in terms of usability satisfaction, cost and performance. The results gave positive results in all categories and the proposed system has the potential to replace hi-tech costly medical training mannequins for pulse measurement training.