The invention discloses a three-degree-of-freedom translation force feedback hand controller. The device is improved based on a plane five-rod mechanism, and one-degree-of-freedom motion is added to the two-degree-of-freedom motion vertical to the plane. The device mainly comprises a base, a positioning support, a plane motion part, a vertical motion part, a drive motor, a counterweight and a force sensor. In accordance with the design requirements for a force sense interaction device, the three-degree-of-freedom translation device is subjected to kinematics analysis, work space design, position resolution analysis and the like. Compared with a traditional hand controller, a six-dimensional force/torque sensor is mounted at the tail end of the device, an accurate force sense feedback effect is realized, and the resolution of the feedback force is higher; moreover, the work space is larger, and the rigidity is higher. The three-degree-of-freedom translation force feedback hand controller disclosed by the invention has simple structure and high accuracy; the control method is simple and effective; the hand controller is convenient to operate and has broad application prospect.