Abstract The intelligent prosthetic hand is a typical biomechatronic system, and its essence lies in the physical integration and functional integration of mechatronic system and organism. In this paper, the key problems of biomechatronic integration for intelligent prosthetic hands are discussed, including the design of dexterous manipulating mechanism matching the function of bio-machine interface, the mechatronic integration of prosthetic hand body, human-machine physical interface, integration of bidirectional bio-machine interface. Then the integrated design of intelligent prosthetic finger with extrinsic actuator is presented. The finger features three-dimensional force tactile sensing, torque sensing and position sensing, and the actuator, sensors and controller are all integrated in the finger inside. Interference between control channel and feedback channel of bidirectional bio-machine interface is an important problem. In combination with the interference characteristics, the interference suppression methods based on biphasic electric stimulation and adaptive filtering are presented. The experimental results verify the effectiveness of the methods.