We present Dexmo: an inexpensive and lightweight mechanical exoskeleton system for motion capturing and force feedback in virtual reality applications. Dexmo combines multiple types of sensors, actuation units and link rod structures to provide users with a pleasant virtual reality experience. The device tracks the user’s motion and uniquely provides passive force feedback. In combination with a 3D graphics rendered environment, Dexmo provides the user with a realistic sensation of interaction when a user is for example grasping an object. An initial evaluation with 20 participants demonstrate that the device is working reliably and that the addition of force feedback resulted in a significant reduction in error rate. Informal comments by the participants were overwhelmingly positive.