The technical objective of the present invention is to provide a force control actuator module for a hand exoskeleton structure, the force control actuator module being compact so as to guarantee natural moving of a hand and at the same time being able to accurately transmit predetermined interactive force from a virtual object to a user. In order to obtain the technical objective, a force control actuator module for a hand exoskeleton system, according to the present invention, comprises: a first potentiometer for measuring the position of a finger linkage structure; a second potentiometer, for measuring the position of an actuator, equipped inside a linear motor; and a resilient member provided between the actuator and the finger linkage structure, wherein the resilient member functions as a force sensor, and the force transmitted from the actuator is measured by means of the deflection of the resilient member.
FORCE CONTROL ACTUATOR MODULE FOR A HAND EXOSKELETON STRUCTURE, AND A HAND EXOSKELETON SYSTEM USING SAME