To provide better guidance for patients or the elderly during the self-rehabilitation, a haptic system based on the asymmetric vibration was proposed. Due to the Non-linearity of Perception asymmetric vibration periodic movement can provide a sense of pushing and pulling. In order to better support human motion, we evaluated the sensitivity of different parts of the human body to this haptic assist. And by combining with the gyro-sensor through the contrast experiment, we compared the accuracy of motion learning with or without the haptic assist. The results of three subjects showed that the accuracy of motion learning was improved compared to without haptic assist. Therefore, the system has great potential in the guidance of patients' self-rehabilitation.