The present invention relates to a wrist-forearm under-driven joint device capable of completely independent driving of each degree of freedom and a driving method thereof, and more particularly, to a first reference joint part; a motion joint part installed on one side of the first reference joint part, rotatably installed in a multiaxial direction with respect to the first reference joint part, and having a semi-ellipsoid or ellipsoidal shape; and a forearm structure having one end connected to the other side of the first reference joint part and a second reference joint part connected to the other end of the plurality of forearms, the forearm structure being twisted and rotated based on the second reference joint part; It relates to a wrist forearm under-drive joint device capable of completely independent driving of each degree of freedom, characterized in that it comprises a.
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