Force feedback dataglove is an important interface of human-machine interaction between manipulator and virtual assembly system,which is in charge of the bidirectional transmission of movement and force information between computer and operator. The exoskeleton force feedback dataglove is designed taking the pneumatic artificial muscle as actuator,meanwhile,its structure and work principle are introduced,and the force control problem is analyzed and researched by experiment. The mathematic model of grasping rigid object for finger is established. Considering the friction of tendon-sheath system and finger deformation,the closed-loop force control for a single joint,a single finger and multi-fingers are studied respectively by the feedforward proportional-integral(PI) control method with variable arguments. On the premise of the force smoothness,the control error of the force exerted on the finger joint is in the range of ±0.25 N,which meets the requirement of force feedback. By experimental analysis,the reason of force fluctuation is that the finger joint has a small amplitude quiver,and the consistent change tendency of the force between proximal interphalangeal(PIP) joint and distal interphalangeal(DIP) joint results from their angle coupling relationship.
