Abstract: A force feedback data glove based on micro-low-friction cylinders is proposed to solve the problem of low haptic force that force-feedback devices can supply in virtual assembly environments for large complex mechanical electronic products.This paper firstly introduces the structure and working principle of the glove.Then an experimental system is built to verify hand joint flexion angle measurement and force haptic feedback of the glove,through kinematics calculation based on Newton iteration method.Finally,an interactive control system is built,describing the virtual hand's space position by D-H theory and calculating virtual force on the base of mass-spring model with virtual wall.Experimental results show that the glove could realize large force haptic feedback,meeting the needs of virtual grasp in a virtual assembly system.