Myoelectric prosthetic hand force tactile feedback method and tactile feedback myoelectric prosthetic hand system

Disclosed are a myoelectric prosthetic hand force tactile feedback method and a tactile feedback myoelectric prosthetic hand system. A three-dimensional force sensor is mounted on a wrist of a mechanical prosthetic hand, and a stress shaft of the three-dimensional force sensor is connected with a mechanical prosthetic hand base via a flange and senses stress conditions in directions of three axes of the mechanical prosthetic hand. After the three-dimensional force sensor receives three-dimensional force action, force signals are converted into voltage signals via a bridge principle, the voltage signals are inputted into a control module provided with a single chip microcomputer and a motor driving circuit, the single chip microcomputer acquires the voltage signals which are transmitted from the three-dimensional force sensor and stand for force action on an X axis, a Y axis and a Z axis, positive and negative directions of the voltage signals include directions of X+, X-, Y+, Y-, Z+ and Z-, corresponding pulse width modulation signals are outputted according to the voltage amplitudes in the six directions, namely measured magnitude of stresses in the six directions, and the motor driving circuit drives miniature vibrators in the corresponding directions, so that amplitudes of the vibrators are in direct proportion to the voltage amplitudes in the corresponding directions.