The main objective of this paper is to discuss the experimental validation of a tele-operation system for remote center-of-motion tasks, such as laparoscopic surgery. This validation is based on the use of an extra sensor placed on the master manipulator. The tele-operation system is composed of a new hybrid haptic device (nHH) intended to be used as a master manipulator controlling a collaborative robot, used as a slave surgical robot. The resolution of the forward kinematic model (FKM) of the master device is performed experimentally thanks to the use of an extra sensor. The IMU, as the extra sensor, is installed on the serial part of the nHH device to measure the orientation and is enabled to solve the FKM of the parallel part of the nHH device. The use of an extra sensor reduces the calculation time, improves the accuracy of the KFM, and makes it suitable for real-time applications. The preliminary validation of the force feedback in the nHH workspace is validated. Experiments were conducted on the master–slave platform to validate the proposed approach. The results are promising, which proves that the nHH device presents a suitable performance for the desired task.