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It is known that parallel-type mechanisms have more singularities than serial-type mechanisms. In haptic application, these singularities deteriorate the system performance generating reflecting force. Moreover, different from general manipulators, haptic systems can't avoid the singular point, because they are operated by user random command. Although many singularity-free algorithms for serial mechanisms have been proposed and studied, singularity-free algorithms for parallel haptic application have not been deeply discussed. In this paper various singularity-free algorithms, which are appropriate to parallel haptic system, will be discussed. Furthermore, to overcome singularity problems, a new design including redundant actuation is proposed. The proposed mechanism has fairly large workspace and is relatively light by employing non-floating actuators.