Virtual Reality (VR) has become a valuable tool in rehabilitation, offering an immersive experience that engages and motivates patients. Integrating haptic feedback into VR further enhances realism, allowing users to feel and interact with virtual objects. In this study, we present two hybrid technologies, combining wearable robotics (exoskeletons and exosuits) with functional electrical stimulation (FES), for upper and lower limb rehabilitation.Regarding the upper-limb rehabilitation, we merged a bimanual rigid exoskeleton with FES to enrich VR experiences in the interaction with virtual objects. FES intensity was modulated based on arm motion, providing support or resistance for realistic interactions with virtual objects. Experimental results with unimpaired participants showed improved kinematic performance and a realistic sensation of weight during manipulation.In lower limb rehabilitation, a soft wearable hip-exosuit integrated with FES supported hip flexion during VR-assisted treadmill walking. The hybrid system increased hip range of motion without disrupting the natural gait pattern, but energy expenditure reduction remained a challenge.These hybrid approaches demonstrate promising potential for personalized and effective rehabilitation, paving the way for more advanced therapeutic interventions in the future.