Abnormal joints recruitment of an affected upper limb of children with hemiplegia is normally accompanied by compensation strategy like trunk pending during tasks of reaching (out/ up), and decreases the potential of producing a correct trajectories during these movements within rehabilitation processes. The continuation of rehabilitation increases the potential of success. However, the use of visual, audio, and tactile feedback within the movement might encourage the target upper limbs to improve joint coordinate system to complete tasks. A novel strategy of using an haptic sensation to constrain upper limbs joints along with force feedback, as well as using virtual reality to ensure that the visual and audio feedback would be provided. The use of the functional assessment in order to find out motions improvements of joints. This strategy aims to constrain the upper limbs based on its joints to produce correct trajectories by applying normal joints recruitment during movements, and improve joints coordinate system (JCS) with end-effector-based haptic device