Upper limbs play an important role in everyday life, enabling a variety of activities beyond mere object manipulation or grasping, as allowing communication, productivity, creativity, and physical health through writing, drawing, sports and recreation. It is evident, then, that the loss of upper limb functions deeply impacts individuals' daily lives and quality of life. Despite extensive research to replicate upper limb capabilities with prosthetic devices, users often face challenges in adapting to their prosthesis, leading to high rejection rates. Addressing this challenge requires prosthetics that not only restore functionality but also offer natural control and autonomy for daily activities. In particular, prostheses often demonstrate inadequate sensory feedback and limited proprioceptive information.