teleoperation has become increasingly important in medical applications, handling hazardous materials, as well as in other robotics applications. force feedback in such systems is essential; therefore a haptic device is needed in order to allow the user to feel the reactive forces between the slave manipulator and the environment. our main research focus is the design of a six degrees of freedom parallel robot to be used as a master haptic interface in internet-based teleoperation. this parallel robot is based on two five-bar linkage mechanisms leading to a low weight, compact, and efficient haptic device with a promising successful implementation for telerobotic applications such as endoscopic surgery.