In this study, a spatial 3-dof haptic mechanism is implemented. The implemented mechanism does not employ
the gear transmissions as velocity reducers for all three joints but uses wire-based transmissions, thereby it is able
to minimize the frictions significantly. Also, by employing the structure of the four-bar mechanism to drive third
joint from close to the base, the mechanism is able to minimize the inertia effect from the third actuator very
effectively. Its kinematic analysis such as position and velocity analyses are performed first. Then, its operating
software development, hardware implementation, and the related interfaces between a PC and the implemented
Haptic device are completed. To evaluate its potential and its performance as a haptic device, a experiment
generating a virtual constraint in a operational task space is conducted and preliminary results are discussed.