The present invention aims to provide a hand exoskeleton structure allowing natural finger movements while applying force feedback more accurately. In order to attain such technical aims of the present invention, a hand exoskeleton structure comprising a linking system according to the present invention comprises: a driving device disposed on the back of the hand for generating a set amount of power; two or more first link groups, disposed on each of the fingers, structured so as to transmit the power generated in the driving device to the ends of the fingers; and four or more second link groups connected and supporting the first link groups, wherein, kinematically, the first and second link groups are divided into three or more sub linkage structures, and the sub linkage structure connected to the driving device comprises a five-bar linkage, thus the degree of freedom of the overall linkage is three. Representative drawing figure 4
LINKAGE STRUCTURE FOR HAND EXOSKELETON FOR INTERACTING WITH VIRTUAL OBJECTS