Social robots capable of physically or tactilely interacting with users could unlock new health applications. Despite the potential benefits, integrating physical interaction capabilities in social robot applications remains an emerging field. There is a pressing need to consolidate existing knowledge and identify gaps to guide future research and development. This paper presents a review on current research on physical interaction with social robots in therapeutic settings, particularly in rehabilitation. Despite the burgeoning interest in rehabilitation robotics, there is a noticeable scarcity of studies that delve into social robots in physiotherapy-like interactions. Most studies focus on feasibility rather than effectiveness with target populations, often featuring small sample sizes and varied settings. This limits the ability to draw robust conclusions on the impacts of haptic interaction. Three primary research areas are identified: (1) involving target user groups to ensure relevance, (2) exploring haptic feedback, e.g., through wearable devices, to enhance human-robot interaction, and (3) implementing standardized study designs for meaningful comparisons. Findings highlight the need for comprehensive research to harness social robots’ potential in therapeutic settings, improving the quality of life for individuals with physical and cognitive impairments.