In order to enable the myoelectric prosthetic hand worn by the upper limb disabled to grasp the object stably

a grasping force control system for prosthetic hands based on surface electromyographic（ sEMG） signal and force-sensitive resistor（ FSR） is designed. The system uses DSP-ARM dual processor as the control core

and collects the sEMG signal of the arm of the upper limb disabled through s EMG sensor to decode the desired grasping force. The actual grasping force is collected by the FSR sensor as a feedback signal when the prosthetic hand grasps the object. Then the model-free adaptive control method is used to realize the closed-loop control of the grasping force of the prosthetic hand. The grasping control experiment shows that the system can control the prosthetic hand to stably grasp the object with the desired force.