Abstract: This paper presents a planar 4 wire driven 3 D.o.F. mechanism. For a planar haptic interface, this device
could provide planar forces and moment feedback to the human operator. The particular end-effector geometric
configuration overcomes manipulability problems arising from other recent planar wire haptic interfaces.
Moreover, an explicit forward kinematic pose solution is obtained by introducing a modified wire configuration.
Complete kinematic and manipulability analyses are presented.