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<italic>Objective:</italic> Human neuromuscular reflex control provides a biological model for a compliant hand prosthesis. Here we present a computational approach to understanding the emerging human-like compliance, force and position control, and stiffness adaptation in a prosthetic hand with a replica of human neuromuscular reflex. <italic>Methods:</italic> A virtual twin of prosthetic hand was constructed in the MuJoCo environment with a tendon-driven anthropomorphic hand structure. Biorealistic mathematic models of muscle, spindle, spiking-neurons and monosynaptic reflex were implemented in neuromorphic chips to drive the virtual hand for real-time control. <italic>Results:</italic> Simulation showed that the virtual hand acquired human-like ability to control fingertip position, force and stiffness for grasp, as well as the capacity to interact with soft objects by adaptively adjusting hand stiffness. <italic>Conclusion:</italic> The biorealistic neuromorphic reflex model restores human-like neuromuscular properties for hand prosthesis to interact with soft objects.

A Biorealistic Computational Model Unfolds Human-Like Compliant Properties for Control of Hand Prosthesis