Shared control of bionic robot hands has recently attracted much research attention. However, few studies have performed predictive analysis for grasp pose, which is vital for the pre-shape planning of robotic wrists and hands. Aiming at shared control of dexterous hand grasp planning, this paper proposes a framework for grasp pose prediction based on the motion prior field. To map the hand–object pose to the final grasp pose, an object-centered motion prior field is established to learn the prediction model. The results of motion capture reconstruction show that, with the input of a 7-dimensional pose and cluster manifolds of dimension 100, the model performs best in terms of prediction accuracy (90.2%) and error distance (1.27 cm) in the sequence. The model makes correct predictions in the first 50% of the sequence during hand approach to the object. The outcomes of this study enable prediction of the grasp pose in advance as the hand approaches the object, which is very important for enabling the shared control of bionic and prosthetic hands.