In order to assist patients with wrist dysfunction in rehabilitation training,a pneumatic flexible wrist was designed.The pneumatic flexible wrist was composed of four artificial muscles and a pneumatic spherical brake in parallel,and had 2 degrees of freedom and 2 degrees of maneuverability,which could realize pitch and yaw movement,and the wrist could adjust the damping in real time according to the needs of the task to maintain position.The pneumatic flexible wrist belongs to a pneumatic composite elastomer,which dynamics model is very complicated and is not conducive to real-time precise control.To facilitate the later movement control of the wrist,the experimental study on its dynamic performance was carried out.The dynamic characteristics of wrist under different excitation signals under different damping conditions were compared by using three-dimensional motion capture system,and a large amount of dynamic performance data were obtained,which provided technical support for the subsequent wrist motion control and its application in related rehabilitation robots.