Since nuclear power plant (NPP) dismantling carries the possibility of radiation exposure from a hazardous environment, it’s important to minimize that by using a remote manipulator et al. However, due to complexity of nuclear facilities, it’s necessary for operators to increase their proficiency by operating in advance in a virtual environment. In this research, we propose a virtual manipulator system using a haptic device for NPP’s reactor vessel internals (RVI) dismantling which can realistically manipulate.