In this paper we propose a new compact 6-DOF haptic interface. It contains a five-bar spatial parallel mechanism for orientation, placed on a modified Delta parallel-link mechanism. This serial connection of the two parallel mechanisms yields a wide workspace. In addition, the structure also ensures fast motion, high-power motion and compactness. Furthermore, the mechanisms are free of singularities, which also contributes to the wide workspace. The haptic interface includes a small 6-axis force/torque sensor and high-reduction geared motors to realize good sensitivity and compactness. In addition, the stiffness of the modified Delta mechanism is also discussed.
