Abstract: In the past, many researchers focus their attention on determining theoretical human body organ biomechanical behavior. But still nowadays there exists relatively few applications that make use of such a know-how. One of the most successful consists in the use of haptic interfaces for rehabilitation. A haptic interface is an active robot that can provide the patient with force feedback stimulus that can immerge the patient in a virtual therapeutic world. In fact, with such a tool, the patient can performance different tasks with increased difficulties, and the recorded treatment’s data can be also used to carry a diagnosis out. Moreover, there are other examples where haptic-based tools are employed to assist people with permanent handicaps, like blind people or Parkinson patients are.