In this work the evaluation of stiffness performance of HIPHAD haptic device has been studied with 2 semi-analytical and an experimental method in order to obtain the stiffness characteristics of the haptic device for precise motion tracking performance. Since the compliance of a robot depends highly on robot configuration and force is variable in the haptic applications, stiffness properties of main robot elements and methods of evaluating stiffness of a robot manipulator is investigated considering the computational costs. Virtual Joint Method (VJM) and Structural Matrix Analysis (SMA) method is applied to the case study. Although, structural matrix analysis reduces the computational time dramatically by reducing the node elements it is not accurate as Finite Element Analysis (FEA) method. Comparing the VJM to the SMA, it is applicable to online application due to its simplicity and flexibility. In addition, with FEA based link modelling VJM is as accurate as FEA method in finding stiffness of the manipulator. While both methods can include flexible joints FEA based link stiffness parameters computational costs for these methods is the performance criteria for choosing one. For the case study HIPHAD, the VJM method provides better result in terms of flexibility and computation cost with 0.035 seconds finding the resultant force while SMA method calculates result in 0.074 seconds. Keywords and Phrases: virtual joint method, structural matrix analysis, stiffness, experimental Stiffness Analysis, haptics, HIPHAD