The invention provides a flexible finger-wearable tactile pressure feedback device, comprising a fingertip cover worn on a distal phalanx of a finger, a middle finger band worn on a middle phalanx of a finger, a proximal finger band worn on a proximal phalanx of a finger, and an elastically bendable outer transmission rod and an elastically bendable inner transmission rod. One end of the outer transmission rod is fixed to the fingertip cover and the other end is located at the back of the hand and connected to an outer driving device that applies pushing and pulling forces to the outer transmission rod. One end of the inner transmission rod is fixed to the fingertip cover, and the other end is located on the palm of the hand, and is connected to an inner driving device that applies pushing and pulling forces to the inner transmission rod. A first contact pressure sensor and a second contact pressure sensor, respectively connected to end portions of the outer transmission rod and the inner transmission rod, are provided on the fingertip cover. A film-type pressure sensor is provided on an inner wall of the fingertip cover at a position where the fingertip cover contacts the fingertip pad of a user. The invention has a lightweight structure, is easily worn, allows fingers to move flexibly, allows free interaction, and provides tactile pressure feedback information to the fingers.
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