In order to help amputees grasp everyday objects stably

a force estimation method is presented for prosthetic hands based on force sensitive resistors（ FSR）. Grasping force signal is obtained by FSR

and analysis the force and its gradient signal to the different objects. A grip fuzzy estimation model is established. Fuzzy controller is applied to control the prosthetic and its parameters are obtains by cut-and-trial. Experimental results of prosthetic hand show that the proposed method about desired grip force estimation based on FSR and grip force control is effective.