The utility model discloses an underactuated artificial limb hand embedded control device, the palm internally mounted of this underactuated artificial limb hand has a plurality of brush DC motor that are used for each finger motion of drive, and a plurality of foil gages that detect are carried out to the terminal stress that is arranged in finger motion process perpendicular to fingertip face of installing respectively of each finger of this underactuated artificial limb hand, this controlling means respectively with brush DC motor and foil gage signal link to each other, and the form whole embed who just presents integrated circuit board installs the inside at underactuated artificial limb hand. Through the utility model discloses, can compact structure, be convenient for realize the motion control to underactuated artificial limb hand with controlling, overcome hardware circuit defect such as too huge, can show the action accuracy nature and the suitability that improve in all kinds of practical application simultaneously.