Current Upper Limb Prostheses (ULPs) are characterized by significant shortcomings that contribute to user dissatisfaction, including limited comfort, excessive weight, and functional limitations. To address the latter issue, a new solution, RPC-Net (Recursive Prosthetic Control Network), was developed in a previous study. RPC-Net translates High-Density surface electromyography (HD-sEMG) signals into hand position, aiming to enhance user experience by providing a more natural control. The aim of this thesis is to further validate RPC-Net as a practical solution and this objective is carried out in two parts. The first part describes a novel dry electrode array design, named the High-Density Electrode Array (HDE-Array).