The present application relates to a hand motion capturing device. The hand motion capturing device detects a rotation angle of a connection rod structure corresponding to each finger with respect to a base by means of a first force feedback driving device and outputs a detection signal; a second force feedback driving device detects a rotation angle between different connection rods of each connection rod structure and outputs a detection signal; and a control device receives and sends each detection signal and receives and feeds back a control signal; finally, the first force feedback driving device and the second force feedback driving device correspondingly output force feedback of different magnitudes, so that a hand motion and a finger motion can be carefully captured, force feedback having richer dimensions and finer experience is implemented, the shape and rigidity of a virtual object are simulated, and more real touch experience is provided for a user.
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