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.
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