Abstract: A 4-wire driven 3 d.o.f. planar haptic device, called the Feriba-3, is described. The particular geometric
configuration of the end-effector ensures closed form kinematic pose solution and good manipulability.
Moreover, the structural arrangement adopted makes the Feriba-3 a well-performing haptic device, whose major
features are low inertia, low friction and full dexterity in a large workspace. Manipulability analysis has been
performed by introducing a complete set of manipulability indices.