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With the development of human robot interaction technologies,haptic interfaces are widely used for 3D applications to provide the sense of touch.These interfaces have been utilized in medical simulation,virtual assembly and remote manipulation tasks.However,haptic interface design and control are still critical problems to reproduce the highly sensitive touch sense of humans.This paper presents the development and evaluation of a 7-DOF (degree of freedom) haptic interface based on the modified delta mechanism.Firstly,both kinematics and dynamics of the modified mechanism are analyzed and presented.A novel gravity compensation algorithm based on the physical model is proposed and validated in simulation.A haptic controller is proposed based on the forward kinematics and the gravity compensation algorithm.To evaluate the control performance of the haptic interface,a prototype has been implemented.Three kinds of experiments:gravity compensation,static response and force tracking are performed respectively.The experimental results show that the mean error of the gravity compensation is less than 0.7N and the maximum continuous force along the axis can be up to 6 N.This demonstrates the good performance of the proposed haptic interface.