This paper presents a multi-fingered haptic interface opposed to human hand, which consists of 6 DOF interface arm and three-haptic fingers with 3 DOF. The haptic interface is demanded to be safe, to work in wide operation space, and to present not only force at contact points but also weight feeling of virtual objects, to have no oppressive feeling when it is attached to humans, and to have no weight feeling of itself. The haptic interface was designed to be completely safe and to be similar to the human upper limb in shape and motion ability. The interface is placed opposed to the human hand, which brings safety and no oppressive feeling, but causes difficulty in controlling the haptic interface because it should follow the hand poses of the operator. Two control methods of the haptic fingers are tested and two approaches to oppose the interface hand to the human hand are studied. A computer graphics simulation and experiments are also presented.