This research present a novel haptic interface, named VirtuaPower,having a high-force display capability and a wideworkspacewith 6 degrees-of-freedom (DOF) position measurementand force display ability. Overall mechanism of VirtuaPoweris designed based on an in-parallel pair of five-barmechanisms supporting the end-platform. This novel mechanismenhances the high-force display capability and overcomes thesmall-size workspace which are the pros and cons of parallelmechanisms, respectively.