A haptic device, for interaction with virtual reality or augmented reality systems, including a fixed body configured to be worn on a finger of the hand, and a movable body associated with the fixed body and actuated by a motor means; the device includes a flap associated with the movable body and having a convex contact surface; the movable body being movable with respect to the fixed body so that the contact surface moves from a position that is spaced from the fingertip to a position of contact with the fingertip.