The present invention concerns a ground-based haptic interface equipped with at least two decoupled rotary finger actuators adapted to be manipulated with the fingertips of a single hand of a user. For each finger actuator, means are included for measuring the angular position of the actuator or a for measuring the torque applied on the axis of rotation of the actuator. Each rotary finger actuator is associated with a control motor adapted to apply, on the axis of rotation of the actuator, a torque that is a function of the angular position of the actuator, or that controls the rotational position of the axis of rotation of the actuator as a function of the torque applied on this axis. The haptic interface can be used as a peripheral of a computer, for example, for interacting with a virtual environment. It can also be applied to the control or manipulation of real objects by being coupled, for example, with a robot or a manipulating arm. The interface also can be telemanipulated.