Parallel haptic joystick system

The present invention relates to a haptic joystick system that is used connected to the computer. Device according to the invention, connected to the first link mechanism and the second link mechanism to implement the independent three degrees of freedom, respectively, using a parallel mechanism in series to configure the mechanism, and the sensors and actuators provided in the mechanical part by providing a base plane of the mechanism, while avoiding the influence of the inertia of the sensors and actuators, there is provided a parallel haptic joystick system that can implement all of the six degrees of freedom. In addition, parallel haptic joystick system according to the invention, the first link mechanism and the second link mechanism has the full six degrees of freedom often a flat three degrees of freedom that is used the first link mechanism of the implement is connected to the implementation and the other three degrees of freedom by the second link mechanism is so supplemented, as needed, to provide an even better performance in the ease of energy efficiency and control.