The present invention relates to a force feedback and sensing system for a
hand in which an actuator system and sensing system is coupled to a palm
base attached to the hand or a glove. The actuator system includes double
acting actuators which provide force feedback against digits of the hand
to simulate a real experience a user would have if directly manipulating
a real object. The actuators are rotatably mounted to the palm base
through a two degrees of freedom rotation joint.