Bidirectional force feedback data gloves are widely used in rehabilitation training, precision surgery, telemedicine, medical education, and pain management. However, due to its flexible structure and limited overall size and mass, it is a challenging problem to determine the posture and force of the sensing system. In this study, an exoskeleton force feedback data glove was proposed, which could provide real-time feedback on the position of the end of the glove and avoid the interference of the glove’s own mechanism. The design avoids the interference of the fingers with the glove during movement by introducing a parallelogram linkage. Using the force and position sensing system of the servo electric cylinder, the position and posture of the glove are determined by the D-H parameter method, and combined with the real-time force data, the grasping action and force of the prosthetic hand can be controlled. The results show that it has the feasibility and effectiveness of accurate feedback in terms of force and displacement under the premise of ensuring flexibility.