To provide a force-sensation-presentation manipulator in which an end effector can output translation with three degrees of freedom and rotation with two degrees of freedom to a manipulator base, and which is downsized and can perform wide-range rotation.

The force-sensation-presentation manipulator uses a redundant parallel mechanism which includes the manipulator base 10, the end effector 60, three arms 20a, 20b, 20c supporting the end effector 60, three connection links 23a, 23b, 23c connecting the end effector 60 to the three arms 20a, 20b, 20c, respectively, and driving units for driving the three arms 20a, 20b, 20c.