## 1 Introduction  
A cable-driven parallel robot (CDPR) is a special type of parallel robot that is actuated by elastic lightweight cable links instead of rigid links, which are generally used in other robot mechanisms and automated systems. The main components of a CDPR are cables, winches, motors, pulleys, an end-effector, etc. By virtue of the elastic cable links, a CDPR offers several advantages, such as a large workspace, highly dynamic features, and higher payloads compared with existing parallel robots [1, 2, 3]. By maximizing these advantages, CDPRs are important in industrial and robotics research where highly dynamic features, accurate position control, and high payload performances are required in a large workspace [4]. For example, rehabilitation [5, 6, 7], large-scale 3D printing [8, 9, 10], localization [11], and a CDPR human-like robotic arm [12] are representative recent developments. However, an intuitive and user-friendly remote control has not yet been achieved due to the unfamiliar multiple-cable configuration of CDPRs. As a master device to control a CDPR, a commercialized compact haptic device can be useful, as haptic devices have widely been used for various applications, such as surgical robot systems [13, 14], virtual haptic systems [15, 16], and teleoperation [17, 18]. Importantly, especially in dangerous workplaces, intuitive remote motion control is an essential part of user-commanded operation. Therefore, the intuitive remote control proposed in our previous research [19]and vision-based control [20] for a CDPR have been addressed. Typical haptic devices are composed of serial [21] and parallel [22] types of rigid actuators; the motion of an end-effector is controlled by users through joysticks, knobs, or exoskeletons. Although various types of haptic devices are available, the intuitive motion discrepancy between haptic devices and CDPR end-effectors still exists due to the complex configuration of CDPRs. Their operation range is also often limited by being applied to an elastic cable link of a CDPR because of the rigid links of conventional haptic devices. Exoskeleton haptic devices are also difficult for remote users to use because of inconveniences while wearing them and weak controllability. Therefore, portability and easy installation on an operator's desk or bench, in addition to intuitive operation, will enhance the user-friendly remote controllability of a CDPR. Previously, research on utilizing parallel-type haptic devices has been conducted. [23] developed a prototype cable-driven haptic device operated by 7 DOF. Redundant parallel-mechanism-based haptic devices, named DELTA-R, were developed as prototypes for virtual-reality applications [24]. [PERSON] et al. developed a haptic-interaction system using a MINI IPAnema 3, manufactured by Fraunhofer IPA, based on the admittance control algorithm, and proved its performance through experimental verification [25]. However, a compact-size haptic device configured by a CDPR mechanism with an embedded micro-controller has not been achieved for practical application. In this study, we constructed a new type of CDPR-configured haptic device for user-friendly teleoperation. The proposed system can maximize the advantages of remote CDPR operation with easy and intuitive motion control. The proposed method can also provide a practical solution for teleoperation systems requiring a haptic device that covers a large workspace, but is compact enough to ensure security and convenience for the operator. The haptic device of the proposed system can help operators easily control a CDPR by allowing them to feel as though they are actually holding the object. Thus, they can flexibly address situations in remote sites even though objects are not observable at their location. For practical implementation, we designed and prototyped a compact CDPR. To achieve an on-desk-size system, we used a microprocessor that enabled the portable haptic device to be controlled independently with a PLC-based computing system.