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.


> Parallel haptic joystick system

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