In this paper, a study on wearable exoskeleton devices which are capable of delivering sensation to the fingers while interacting with the virtual objects in virtual reality environment has been conducted. A force-controllable hand exoskeleton system is proposed, which is able to apply force feedback to the fingertip while allowing natural finger motions. The linkage structure was inspired by the skeletal structure of a human finger. Moreover, a series elastic actuator (SEA) mechanism, which consisted of a linear motor, a spring and a potentiometer, was presented as an actuating system. The force transmission through linkage has been investigated to ensure the force feedback ability at the fingertip. By using a PID controller, the proposed actuator module could generate the desired force in two different modes: free mode and interaction mode. The experimental results show that the proposed system could effectively deliver forces to the fingertips.

在本文中，对可穿戴外骨骼设备进行了研究，该设备能够在与虚拟现实环境中的虚拟对象交互时向手指传递感觉。提出了一种力可控的手外骨骼系统，该系统能够将力反馈施加到指尖，同时允许手指自然运动。连杆结构的灵感来自人类手指的骨骼结构。此外，还提出了由线性电机、弹簧和电位器组成的串联弹性执行器 (SEA) 机构作为执行系统。已经研究了通过连杆的力传递，以确保指尖处的力反馈能力。通过使用 PID 控制器，所提出的执行器模块可以在两种不同的模式下产生所需的力：自由模式和交互模式。