In view of the complex composition of the human body, the force feedback equipment must have accurate and stable working performance. The equipment components and working way were introduced, each member of the coordinate system was establish by using DH parameter method, the homogeneous transformation matrix between neighboring rods was obtained.Through the kinematic analysis, the characteristic equation of the force feedback device kinematics was obtained. The trajectory planning of the equipment was carried out with ADAMS, theoretical analysis and practical simulation results show that the force feedback device has good movement characteristics