Abstract：The key problems of biomechatronic integration for intelligent prosthetic hands are discussed, including the design of dexterous manipulation mechanism matching the function of bio-machine interface, the mechatronic integration of prosthetic hand body, human-machine physical interface, and integration of bidirectional bio-machine interface. Then the integrated design of intelligent prosthetic finger with internal 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 inside the finger. For the interference between control channel and feedback channel of bidirectional bio-machine interface, the interference suppression methods based on two-phase electric stimulation and adaptive filtering are presented according to the model of electric stimulation interference on electromyographic signals. The experimental results verify the effectiveness of the methods.
 Connolly C. Prosthetic hands from touch bionics[J]. Industrial Robot, 2008, 35(4):290-293.
 Touch Bionics. Training protocol for therapists of i-limbTM ultra revolution and i-limbTM ultra[M/OL]. (2014-07-01)[2017-05-13]. http://www.touchbionics.com/sites/default/files/files/i-limbultrarevolutionOTmanual_7.24.14.pdf.
 Schulz S. First experiences with the Vincent hand[C]//Pro-ceedings of the 2011 MyoElectric Controls/Powered Prosthetics Symposium. 2011.
 Ottobock. Bebionic technical manual[M/OL]. (2017-04-03)[2017-05-13]. http://bebionic.com/distributor/documents/Tech_Manual_Medium_Large_Hand.pdf.
 Weir R F, Mitchell M, Clark S, et al. The intrinsic hand-A 22 degree of freedom artificial hand-wrist replacement[C]//Pro-ceedings of the 2008 Myoelectric Controls/Powered Prosthetics Symposium. 2008:233-237.
 Mitchell M, Weir R F. Development of a clinically viable multi-functional hand prosthesis[C]//Proceedings of the 2008 Myoelectric Controls/Powered Prosthetics Symposium. 2008:45-49.
 Butterfass J, Grebenstein M, Liu H, et al. DLR/Hand-Ⅱ:Next generation of a dextrous robot hand[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 2001:109-114.
 Jamshidi M, Ollero A, Dios J R M, et al. Developments in dexterous hands for advanced robotic applications[C]//Proceedings of the World Automation Congress. Piscataway, USA:IEEE, 2004:123-128.
 Lovchik C S, Diftler M A. The Robonaut Hand:A dexterous robot hand for space[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 1999:907-912.
 Liu H, Meusel P, Hirzinger G, et al. The modular multisensory DLR-HIT-hand:Hardware and software architecture[J]. IEEE/ASME Transactions on Mechatronics, 2008, 13(4):461-469.
 Santello M, Flanders M, Soechting J F. Postural hand synergies for tool use[J]. Journal of Neuroscience, 1998, 18(23):10105-10115.
 Zhang T, Liu H, Jiang L, et al. Development of a flexible 3-D tactile sensor system for anthropomorphic artificial hand[J]. IEEE Sensors Journal, 2013, 13(2):510-518.
 Sang Y J, Li X, Luo Y. Biomechanical design considerations for transradial prosthetic interface:A review[J]. Proceedings of the Institution of Mechanical Engineers, Part H:Journal of Engineering in Medicine, 2016, 230(3):239-250.
 Zhang T, Fan S W, Jiang L, et al. Development and experiment analysis of anthropomorphic prosthetic hand with flexible three-axis tactile sensor[J]. International Journal of Humanoid Robotics, 2013, 10(3):No.1350028.
 Zhang T, Jiang L, Wu X Y, et al. Fingertip three-axis tactile sensor for multifingered grasping[J]. IEEE/ASME Transactions on Mechatronics, 2015, 20(4):1875-1885.
 Keller T, Kuhn A. Electrodes for transcutaneous (surface) electrical stimulation[J]. Journal of Automatic Control, 2008, 18(2):35-45.