In recent years, the disease burden of stroke has shown an explosive growth, and hand function rehabilitation training equipment has shown a broad application prospect. The current research of rehabilitation gloves focuses on the realization of preset rehabilitation actions, but the existing rehabilitation bionic hand control system often does not consider the motor drive of finger motion trajectory and the response speed of the device, resulting in the problem of insufficient accuracy and large delay. To improve the rehabilitation effect, this paper developed a rehabilitation bionic hand control system based on the PID algorithm and asynchronous concurrent processing, including a special drive circuit board, Hall-type reducer motor, asynchronous concurrent program and PID algorithm. This system can control the bionic rehabilitation glove to complete the preset action and provide support for rehabilitation treatment. Experimental results indicate that the system has high accuracy and low delay, which meets the requirements of rehabilitation treatment and shows considerable practical application prospects.