To a certain extent

needle inserting pain of acupuncture hinders the promotion of acupuncture therapy. The authors analyze the potential relationship between needle inserting speed and patient’ s algesthesia

expound the formation mechanism of needling algesthesia

and point out the influencing factors of needle inserting pain. Based on these

the authors put forward to the design of acupuncture robot. Its characteristic performance of high speed

little pain and painless needle inserting are emphasized. It might resolve the conflicts between growing acupuncture clinical demand and doctors needing a long training period to master the technology of painless needle inserting.