To provide adequate functionality, an upper limb prosthesis must be sufficiently dexterous and capable of fast, precise responses to the user’s inputs, while still generating enough torque to securely grasp objects. These design objectives are often conflicting, requiring careful tuning of both the mechanical properties of the device and its control strategies. Simulating components in isolation frequently produces inconsistencies once they are integrated, highlighting the importance of a comprehensive system-level simulation. The static, kinematic, and dynamic behaviors of the prosthesis must therefore be modeled to establish a reliable foundation for improving design and control without the need to construct physical prototypes.