There are numerous applications of VR simulation re-quiring the grasping and manipulation of virtual objects. Standard-use haptic interfaces (e.g. Virtuose 6D, PHANToM) allow only a limited level of realism, as grasping is approximated through a metaphor (e.g. pressing a button for grasping an object). Existing hand exoskeletons have also certain drawbacks (e.g. feedback only for finger flexion, limited finger workspace etc.). The work presented in this paper introdu-ces a hand force exoskeleton that allows full finger flexion and extension and applies bi-directional feed-back. It has 3dof at the index finger and 4 at the thumb. The system is actuated by DC motors and cable transmissions are used. It has been designed for use in conjunction with Virtuose 6D, a commercial 6dof haptic arm, in order to allow the simulation of external forces (gravity, contact reaction forces, etc.).

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