Background/Objectives: An individual with a hand disability, whether caused by an accident, disease, or congenital condition, may have significant problems with their daily activities, self-perception, and ability to work. Prosthetic hands can be used to restore essential hand functions, and features such as adaptive grasps can enhance their usability. Due to noise in the sEMG signal and hardware limitations in the system, reliable myoelectric control remains a challenge for low-cost prosthetics. ESP32 microcontrollers are used in this study to develop an SVM-based sEMG classifier that addresses these issues and improves responsiveness and accuracy. A 3D-printed mechanical structure supports the prosthesis, reducing production costs and making it more accessible. Methods: The prosthetic hand is developed using an ESP32 as the microcontroller, a Myoware Muscle Sensor to detect muscle activity, and an ESP32-based control system that integrates sEMG acquisition, SVM classification, and finger actuation with FSR feedback. A surface electromyography (sEMG) method is paired with a Support Vector Machine (SVM) algorithm to help classify signals from the sensor to improve the user’s experience and finger adaptability. Results: The SVM classifier achieved 89.10% accuracy, an F1-score of 0.89, and an AUC of 0.92, with real-time testing demonstrating that the ESP32 could reliably distinguish flexion and extension signals and actuate the servo, accordingly, producing movements consistent with the kinematic simulations. Complementing this control performance, the prosthetic hand was constructed using a coupled 4 bar linkage mechanism fabricated in PLA+, selected for its superior factor of safety compared to the other tested materials, ensuring sufficient structural reliability during operation. Conclusions: The results demonstrate that SVM-based sEMG classification can be effectively implemented on low-power microcontrollers for intuitive, low-cost prosthetic control. Further work is needed to expand beyond two-class detection and increase robustness against muscle fatigue and sensor placement variability.