The purpose of this research is to develop a rehabilitation system utilising a haptic device. It aims to integrate motion and sensory therapy ensuring that the patient's interest is maintained and to establish a quantitative assessment of the level of disorder. The haptic device provides a virtual force to the grip. The user moves the grip of the haptic device according to the training program, which is displayed on the computer screen. Various types of force can be displayed, e.g. resistance, assistance, viscosity and friction. The training and evaluation programs including simple motion and games are prepared. Suitable training can be chosen from the different types of training programs according to the patient's disability.