Traditional　Chinese　medicine　(TCM)　is　one　of　the　recognized　non-pharmaceutical　treatment　methods　worldwide.　Acupuncture,　as　a　form　of　TCM,　uses　needle　stimulation　on　specific　acupoints　to　treat　various　diseases,　especially　for　some　difficult　and　complicated　conditions.　However,　traditional　acupuncture　has　some　limitations,　such　as　the　difficulty　of　operation,　long　treatment　time,　and　uncertain　therapeutic　effects.　In　order　to　address　these　issues,　this　paper　proposes　a　handheld　automatic　acupuncture　device　that　can　perform　acupuncture　automatically.　The　device　uses　a　linear　actuator　and　a　rotating　motor　to　achieve　two　common　acupuncture　techniques,　namely　needle　thrusting　and　lifting,　and　twisting,　respectively.　The　two　actions　are　controlled　by　Arduino　to　achieve　the　desired　therapeutic　effect.　Through　3D　modeling　and　prototype　experiments,　we　found　that　the　device　reduces　human　errors　and　achieves　typical　acupuncture　treatment　techniques　such　as　needle　thrusting　and　lifting　and　twisting.　Therefore,　it　is　expected　to　promote　the　quantification　of　acupuncture　treatment　and　potentially　replace　doctors　in　performing　acupuncture,　thus　reducing　unnecessary　medical　accidents.　©　2024　SPIE.