Abstract
This paper discusses the design concept of a hyper-redundant haptic interface with 10 actuated degreesof- freedom (DOF). The kinematical redundancies allow a significantly larger workspace, while reducing the overall device size. Moreover, an increase in a variety of dexterity measures and a singularity robust redundancy resolution can be achieved. Numerical studies comparing the performance of local redundancy optimisation techniques are presented. Besides a construction possibility for virtual environments based on methods for visual and haptic rendering is presented.