In order to promote inheritance of acupuncture manipulation and advance the study of mechanism of acupuncture

make the robot hand realize quantification of acupuncture manipulation

a robot hand which can simulate lifting-thrusting and twirling manipulations in Chinese Acupuncture is designed. The digital signal processor（ DSP） of TMS320 F28335 is used as the core controller to control the rotation of servo motor

so as to drive the robot hand to complete the acupuncture operation. The Lab VIEW upper PC is used to build the control interface. The main parameters of acupuncture operation are quantified and set by upper PC softwace. The robot hand can perform acupuncture operation accurately according to the action mode and parameters set by PC. The acupuncture manipulation of twirling reinforcing and reducing

and lifting-thrusting reinforcing and reducing are simulated and quantified.