The invention discloses a pulse reoccurrence device and a reoccurring method thereof. The device comprises a hydraulic loop and a control circuit, wherein the hydraulic loop comprises an electromechanical integral pump, an electro-hydraulic servo valve, a diverter valve, a bionic wrist and an oil tank which are connected sequentially, wherein pressure sensors are arranged inside and on corresponding positions of cun, guan and chi on the bionic wrist when an external force acts on one of the positions corresponding to cun, guan and chi of the upper part of the bionic wrist, the corresponding pressure sensor outputs an analog pressure signal, and the control circuit calls a pulse signal to be reoccurred under trigger of the output analog pressure signal output by the pressure sensor, and the pulse signal which is subjected to digital-to-analog conversion and amplification serves as a drive signal of the electro-hydraulic servo valve to drive the hydraulic loop to generate a corresponding hydraulic waveform, so that true reoccurrence of pulse is realized.
