The invention discloses an elderly assisting and accompanying hand vibration comfort degree adjustment device and adjustment method thereof. The device includes such step as adjusting the vibration ofpedestrian hand, includes sensor module, data acquisition module arranged on an elderly assisting and accompanying robot, central processing module and adjustment module. The data acquisition moduleis used for receiving vibration acceleration signal of the old people's hand to help the old people to walk together, and sending it to the central processing module after preprocessing. The central processing module evaluates the hand vibration comfort degree according to the received signals, and then triggers the adjustment module to adjust the hand comfort degree of the elderly according to the evaluation results. The invention can accurately adjust the vibration comfort degree of the hand, so as to better realize the comfort of the hand of the elderly.