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This paper presents the kinematic analysis of a new 6-DOF haptic interface and control system analysis for the tele-operation of 6-DOF serial robot. The haptic interface consists of two 3-DOF parallel structures connected with a steering handle. The design satisfies requirements of low mass moment of inertia, quick motion, big rotation, and large applied torques. Kinematics for position and differential motion are developed for the 6-DOF haptic interface. Tele-operation of a 6-DOF serial manipulator using this haptic interface is demonstrated. Experiment results provide comparison of trajectories and forces/torques between 6-DOF haptic interface and 6-DOF serial robot on the Cartesian space.