Upper prosthetic hand pose self-balancing control system and working method thereof

The invention discloses an upper prosthetic hand pose self-balancing control system and a working method thereof; the system comprises a hand balancing controller and a voltage-type dual-axis inclinometer fixed on the forearm of an upper prosthetic hand, wherein the hand balancing controller is connected with a forearm rotating steering engine and a wrist pitching steering engine of the upper prosthetic hand by a serial port; and the hand balancing controller is formed by connecting an MCU (micro-programmed control unit), an analogue-digital converting circuit, a power management module and the serial port. When an arm moves, the inclinometer is used for transmitting the forearm pose variation data which are detected in real time to the controller by the analogue-digital converting circuit in the controller, the controller is used for automatically adjusting the rotation direction and the pitching angle of the forearm rotating steering engine and the wrist pitching steering engine according to an inclination