While the regular treatment for wrist stiffness is physical therapy or surgery, researchers are looking for an alternative, more efficient and automatic procedure by means of robotic applications. In this paper, we propose a low-cost system exploiting a haptic interface aided by a glove sensorized on the wrist allowing the identification of the wrist orientation, in this way, by using virtual reality, the patient is able to make some motions that are very essential for his/her rehabilitation process and, by exploiting the wrist orientation tracking, he/she can be trained and guided to reach different goals of increasing complexity.