The invention discloses a pulse signal collection device and method imitating pulse diagnosis techniques of traditional Chinese medicine. The collection device comprises a wrist carrier, a position adjusting mechanism, penetration shaft motors, a transmission mechanism, pulse sensors, a signal pre-processing circuit, a single-chip microcomputer and a computer. According to the pulse signal collection device and method, a method that the guan-position pulse sensor is positioned in the first place and then the cun-position sensor and the chi-position sensor are positioned is adopted, the finger distribution technique of pulse diagnosis of traditional Chinese medicine is imitated completely, and the pulse sensors of three positions, namely the cun position, the guan position and the chi position, are positioned at the same time more easily and more accurately. Through pulse signal amplitude values, the effectiveness of pulse signal collection is judged, thereby pulse signal collection can be started and ended automatically, and human intervention is not needed. On the basis of accurate positioning, the penetration shaft motors are controlled one by one through a control algorithm, the pressing depths of the pulse sensors at the cun position, the guan position and the chi position are adjusted in sequence, the pulse diagnosis technique of 'finger-finger alternation' is achieved, and the pulse feeling technique of 'three divisions and nine sub-divisions' of pulse diagnosis of traditional Chinese medicine is imitated completely.