Abstract—Among the recent investigations in upper-limb pros-
theses, the research still focuses on exploring new control solu-
tions to reduce the user’s mental fatigue and improve the control’s
robustness and intuitiveness. Some studies present solutions
to close the control loop by using compensatory motions as
error indexes. A previous relation is established to associate a
predefined compensation motion to a given prosthetic degree
of freedom. We developed an approach to avoid this step and
directly correlate the human motions to as many prosthetic joints
as needed. The implemented algorithm is tested in Simulink for
a simulated trans-humeral amputee.