AbstractOne aspect in haptic devices is the design of the kinematics. The kinematics of a mechanism is the key to implement and accomplish the design goals, like transmitting dynamic feedback in the form of forces or torques, or allowing a sufficient workspace for the user to interact with environment. This chapter introduces the steps of the kinematic design. The chapter consists of five main sections. The first section gives an overview on some basic definitions and the main types of mechanisms. In the second section, the first step in the design, defining the structure of the mechanism, is introduced. This is accompanied with an example. After choosing the most applicable structure for the desired application, the second step takes place, where the kinematic equations are solved. These equations are used to describe the relation between the operating point of the mechanism and the base at any point in time. Different approaches are used to solve those equations depending on the type of the mechanism used. The third and final step in the design process is introduced in the fourth section. This step contains the optimization process of the mechanism in order to achieve a desired operation of the mechanism. Last but not least, the importance of modeling and simulation is discussed in the last section.