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In this paper, a cable-driven planar parallel haptic interface is pre- sented. First, the velocity equations are derived and the forces in the cables are obtained by the principle of virtual work. Then, an analysis of the wrench-closure workspace is performed and a ge- ometric arrangement of the cables is proposed. Control issues are then discussed and a control scheme is presented. The calibration of the attachment points is also discussed. Finally, the prototype is described and experimental results are provided.