Objective To establish the biomechanical model of skeletal muscle during hand grasping for reverse dynamics simulation, so as to obtain the maximum muscle force of each muscle involved in the process of hand grasping under different forces. Methods CT scanning was performed on a volunteer’s hand, and CT data of his hand were imported into Mimics software for 3D reconstruction, so as to obtain the bone models of each segment. After adjusting the model coordinates by Geomagic Studio, the model was imported in AnyBody software for establishing the kinematics model of the hand skeleton. The related muscles involved in the flexion of each finger were added, to establish the skeletal muscle model of the hand. The model was then used to simulate the reverse dynamics of hand grasping. ResultsThe maximum muscle force of each muscle in the whole process of finger movement was obtained after the 5-30 N external force was applied to each distal phalanx. With the increase of force, the maximum muscle force of each muscle showed a linear trend. For example, the maximum muscle force of flexor pollicis longus increased from 18.49 N to 110.93 N; when the external force was 5 N, the maximum muscle force of flexor pollicis brevis, flexor pollicis longus, adductor pollicis and flexor digiti minimi brevis during hand grasping was 7.70, 18.49, 9.49, 8.39 N, respectively. The muscle force of superficial and deep flexors was greater than that of other muscles in the process of finger movement, which played a major role in grasping the hand. Conclusions The maximum muscle force of the muscles involved in hand grasping under different resistance, and the relationship between muscle force of main muscles and joint angles, can provide guidance and references for the evaluation of hand rehabilitation effect of stroke patients, as well as certain theoretical basis for the manufacture of rehabilitation equipment.