This research examines the haptic perception of orientations in the frontal plane in order to identify the nature of their representation. Blindfolded participants inserted the tip of the index finger into a thimble mounted on the extremity of a haptic interface and manually explored the orientation of a “virtual rod”. After a short delay, participants had to reproduce the scanned orientation with the same hand without the guidance of the virtual rod. The analysis of the systematic errors showed that the recalled orientations were markedly biased toward the nearest diagonal in each quadrant with the exception of the orientations nearest to the vertical, which were biased toward the vertical. The variable error was greater for the oblique orientations than for the horizontal or vertical orientation. These results are interpreted with the Category-Adjustment model, which posits that orientations are categorically represented. We show that it is necessary to assume the existence of vertical and horizontal categories in addition to the previously postulated oblique categories to predict the error patterns observed in the present and former studies. The similarity of the error patterns in the visual and haptic modalities suggests that a common mechanism is at play in perceiving and reproducing orientations in both sensory modalities.