Among the recent investigations in upper-limb prostheses, the research still focuses on exploring new control solutions 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.