Body-powered and myoelectric prosthetic terminal devices have similarly high rates of rejection: 26 and 23%, respectively. This is in part because, despite technological advances, each comes with distinct advantages and disadvantages. The SoftHand Pro-H marries the concepts behind traditional body-powered and myoelectric prostheses by translating shoulder motion into motor commands. The terminal device is the SoftHand Pro: a 19 degree of freedom, underactuated prosthetic hand based on the neuroscientific principle of motor synergies that is thus able to grasp a wide variety of objects with human-like motion. While the typical SoftHand Pro uses myoelectric control, the SoftHand Pro-H employs a typical body-powered harness to transmit user intention to the hand’s microcontroller.