This paper presents advances in master haptic devices development over the past 15 years as key component of teleoperation system, serving as leverage to both health and well-being and industries and innovation SDGs. The use of parallel architectures has predominantly guided this line of development, specifically for use in teleoperation systems and haptic applications. The target applications for these developments are mainly in the medical field, ranging from ultrasound imaging to various minimally invasive surgical procedures. The primary characteristics include a fixed center of rotation (CoR) and degrees of freedom (DoF) ranging from 3 to 6. Various architectures have been explored, examining the advantages of features such as assembly constraints, active and passive joints, and redundancy. Parallel robots are known for their high accuracy and rigidity. However, they exhibit poor behaviour near singular configurations, facing both serial and parallel singularities within their workspace. Consequently, each proposed haptic device has been optimized to meet different criteria, such as dexterity, task workspace, and singularity-free motion. This process led to numerous improvements across versions, including the addition of sensors or actuators and partial architectural changes to address these challenges. More recently, a new architecture has been introduced, based on a hybrid combination of serial and parallel robots, taking advantage of the strengths of both types.