“The world around us is by and large shaped to be operated by hands and arms: our homes, our work-places, the means of everyday transportation”. Not only hands allow us to interact with the physical world, but they also help in greeting and talking. The loss of an upper limb incredibly lowers the quality of life, leading to severe impairment in daily-living operational functionality as well as to psychological damages. Since the beginning of civilization, humans started searching for improvements in amputees life. Initially, the adopted solutions were based on replacing the part of the body missing by means of mechanical and passive devices.