In teleoperation systems, link ?exion results in kine- matic errors, such that the position mapping between the master motion and slave motion is not correct. For haptic feedback teleoperators, this also causes errors in the direction of force feedback to the operator. This study examines human ability to compensate for rota- tional kinematic/haptic errors, where the mapping be- tween master and slave kinematics and haptics has an error of 5 degrees. Using a 2-degree-of-freedom hap- tic system, with a virtual environment representing the slave robot and environment, subjects performed ob- ject tracing tasks on either a square or a circle with various combinations of correct and incorrect kinemat- ics, and correct, incorrect, and absent haptic feedback. A point-to-point targeting task was performed between each tracing task to minimize the possibility of after- e?ects. The results showed no signi?cance for using di?erent object shapes for the tracing task or for hav- ing haptic feedback in the targeting task. Incorrect hap- tic feedback proved to be comparable to having correct haptic feedback under our experimental conditions.