A method for generating a haptic penalty force comprising the steps of: defining a haptic interaction point position in virtual space, the HIP position corresponding to a physical point associated with a surgical tool by means of a haptic interaction point locator; defining a primary proxy position on a primary proxy surface by means of a primary proxy position locator, wherein the primary proxy position corresponds to the position of the HIP projected perpendicularly onto the primary proxy surface; defining a secondary proxy position on a secondary proxy surface by means of a secondary proxy position locator, wherein the secondary proxy position corresponds to the position of the HIP projected perpendicularly onto the secondary proxy surface, and wherein the secondary proxy surface is positioned at a predetermined distance (a) from the primary proxy surface and between the primary proxy surface and an expected cutting surface of a bone; generating a first haptic force, by a haptic device, based on the primary proxy position and the HIP position when the HIP position is located between the primary proxy surface and the secondary proxy surface at a distance (d) less than or equal to the predetermined distance (a) from the primary proxy position, wherein the first haptic force is directed toward the primary proxy position; and generating a second haptic force, by said haptic device, based on the primary proxy position and the HIP position when the HIP position is located between the secondary proxy surface and the expected cutting surface at a distance (d) greater than the predetermined distance (a) from the primary proxy position, wherein the second haptic force is directed toward the secondary proxy position. defining a haptic interaction point position in virtual space, the HIP position corresponding to a physical point associated with a surgical tool by means of a haptic interaction point locator; defining a primary proxy position on a primary proxy surface by means of a primary proxy position locator, wherein the primary proxy position corresponds to the position of the HIP projected perpendicularly onto the primary proxy surface; defining a secondary proxy position on a secondary proxy surface by means of a secondary proxy position locator, wherein the secondary proxy position corresponds to the position of the HIP projected perpendicularly onto the secondary proxy surface, and wherein the secondary proxy surface is positioned at a predetermined distance (a) from the primary proxy surface and between the primary proxy surface and an expected cutting surface of a bone; generating a first haptic force, by a haptic device, based on the primary proxy position and the HIP position when the HIP position is located between the primary proxy surface and the secondary proxy surface at a distance (d) less than or equal to the predetermined distance (a) from the primary proxy position, wherein the first haptic force is directed toward the primary proxy position; and generating a second haptic force, by said haptic device, based on the primary proxy position and the HIP position when the HIP position is located between the secondary proxy surface and the expected cutting surface at a distance (d) greater than the predetermined distance (a) from the primary proxy position, wherein the second haptic force is directed toward the secondary proxy position.