Stroke is a leading cause of long-term disability, and virtual reality (VR)-based stroke rehabilitation has been shown to be effective for increasing the motivation and functional performance of stroke patients. Although many patients regain most reach and grasp capabilities in their upper extremity function, recovery of the pinch skill remains incomplete for the majority of patients. In this study, an innovative VR-based pinch skill training and strengthening system using haptics simulation was developed for the long-term recovery of upper extremity motor function post stroke. Two subject tests were conducted. The first was a healthy subject test conducted with 30 participants to verify the system design and functionality, specifically emphasizing difficulty levels and behavior phases. The second was a pilot test conducted on two stroke patients to examine the feasibility and therapeutic effects of the proposed system. Upon completion of the pilot test, the results of clinical assessment showed that both participants were improved. Using synchronized kinematic and kinetic data, the participants' behavior time-history was reconstructed for behavior interpretation and motor activity analysis. Finally, user acceptance of the technology was high, indicating that the participants intended to continue using the proposed system for rehabilitation.