Exoskeleton device of handheld puncture robot

The invention discloses an exoskeleton device of a handheld puncture robot, and the exoskeleton device comprises a holding part which is detachably connected with the handheld puncture robot; the wearing part is used for supporting the holding part; the far-end motion center mechanism is in transmission connection with the holding part and the wearing part, so that the holding part can perform pitching and yawing actions relative to the wearing part by taking the wrist joint as the center; the driver is used for providing driving force for enabling the far-end motion center mechanism to act; and the sensor is used for sensing the movement of a user and sending a signal to the driver, so that the driver drives the holding part to move along with the movement of the user through the far-end movement center mechanism. The exoskeleton device is used for transferring load of the handheld puncture robot to limb parts of a user and relieving fatigue of fingers and wrists of the user, and the far-end movement center