Numerous haptic devices have been developed, especially for neurorehabilitation of upper extremities, but their wide-spread use has been largely impeded for reasons of complexity and cost. Based of current research it seems that single haptic device can be used to treat a variety of upper limb impairments following stroke, traumatic brain injury, or other direct trauma to the arm. The most advanced solutions are combinations of brain-computer interfaces (BCIs) with robot-assisted physical therapy. This article aims at investigating the extent to which the available opportunities are being exploited, including haptic rehabilitation methods tailored to individuals with CNS deficits.