In this paper, a new type of arm-type damper consisting of two links and three joints (human type joints with friction) has been developed. The damper is able to suppress six modes of vibration of a machine, three in translational modes and three in rotational modes. The trial damper was made and its resisting force characteristics in three translational and three rotational directions were discussed theoretically and experimentally. The seismic responses of a three-degree-offreedom translational system and a two-degree-of-freedom translational-rotational system and the frequency responses of a single-degree-of-freedom translational system, which consist of a mass and four coil springs and supported by the damper, were measured using a three-dimensional permanent magnet type shaking table. The experimental results were compared with the calculated ones, and the effects of vibration suppression of the damper in three translational and rotational directions and the propriety of the calculations were confirmed.