A fuzzy estimation method for initial article grabbing reference force of hand prosthesis includes the steps: 1) assuming that the hand prosthesis grabs articles different in softness at a certain speed before touching; 2) measuring contact force by the aid of a force sensor mounted at a knuckle when a finger of the hand prosthesis contacts with the articles; 3) obtaining a touch force gradient by differential of the contact force F within a short time when the finger contacts with the articles; 4) subjecting the contact force and the contact force gradient to normalization, fuzzification, fuzzy reasoning and defuzzification to obtain a fuzzy estimation value, wherein a specific rule fuzzy rule base is designed; 7) obtaining an expected grabbing force by means of coordinate inversion transformation of the fuzzy estimation value; 8) taking the maximum expected force calculated within a short time (50-300ms) after the hand prosthesis contacts with the articles as the initial article grabbing reference force of the hand prosthesis. The fuzzy estimation method has the advantages that estimation of the initial reference force of the hand prosthesis grabbing the articles different in softness is evident in differentiation and estimation effects are favorable.