During robot-assisted surgical interventions, the forces during tool-tissue interaction are rather small and only slight changes of those interaction forces contain valuable information. To render these mechanical characteristics to the user, a haptic display with high mechanical bandwidth is required. These needs are perfectly met by haptic displays based on cable-driven parallel kinematics due to high stiffness and low inertia. In this work, the capabilities and characteristics of a cable-driven haptic display for telemanipulation in the medical field have been investigated. As an exemplary application, the needle insertion process was chosen since there is only one degree of freedom (DOF) and very small changes in the tool-tissue interaction force. The investigation of the cable-driven haptic display shows, that force values up to 22.67 N can be displayed over the complete linear workspace of 400 mm. When there is no pulley used, forces can be displayed up to 47 Hz. When using pulleys for cable guidance, the frequency range is further limited. The proposed setup of the linear cable-driven kinematic as a haptic display shows the ability to display delicate forces with good dynamic behavior but simple setup, and thus has great potential for various applications. Future work will address the investigation of cable-driven haptic displays in planar and spatial configurations with translational and rotational DOFs, and the synthesis of workspaces with yet compact setups.