The invention concerns an input device operating according to the parallel kinematic principle and with haptic feedback, in particular for medical teleoperation with instruments. The inventive input device comprises a frame (10, as well as a support element (30) mobile relative to the frame (10), and including a grip member (70), the frame (10) and the support element (30) being coupled with several linear force-sensitive actuators (20,21) articulated on both sides to the frame and to the support element. The invention is characterized in that the support element (30) includes a grip member (71) mobile relative to the first grip member (70) and at least one grip member (70,71) is coupled with a force-sensitive grip actuator (90). According to a preferred embodiment of the invention, six linear actuators (20,21) form two interlaced tripods whereof the tips are articulated to the support element (30) and are further mobile relative to each other in the direction of the support element, such that the grip actuator (90) is replaced by all six linear actuators (20,21). In another embodiment, an additional degree of rotational freedom is provided by means of a step motor (80).