Human Limb & Segment Modelling is important to better understand the requirements for haptic device design. This is especially applicable to the design of human-centric haptic devices, that are aimed at fulfilling the needs of good workspace coverage, smooth interaction, and robustness to variability between operators. Moreover, modelling of the human motion apparatus allows the verification of novel ‘ergonomic’ haptic device concepts already in simulation, thereby lowering cost of development. The modelling allows to increase the in-depth understanding of the fundamentals of human movement, human biomechanics and human/device interaction. Modelling activities concentrate on the upper-limb and the human hand.