A DSP-based experimental system with real-time finger joint angle detection and prosthetic finger control is designed here. The prototype system is mainly composed of four parts: real-time finger posture detection, joint angle analysis, control pulse encode, and underactuated prosthetic hand with three individually active fingers, i.e. thumb, index finger and middle finger. The real-time finger joint movement is detected by acceleration sensor ADXL330, and the microprocessor DSPTMS320F2812 is used to collect the output of acceleration sensor and calculate angle changes of the finger joint instantaneously. Then, the angle changes are encoded to PWM pulse sequence to control the stepper motor, which drove the rotation of prosthetic finger joint. Preliminary tests are given to multi-finger motion detection and real-time prosthetic finger control, respectively. The experimental results show that the acceleration sensor ADXL330 can be used to reliably detect the gesture of finger movements, it can effectively drive flexion movement and extension movement of prosthetic finger, and the grip action can be completed with the coordination of thumb, index finger, and middle finger.