Currently, only 3 powered DOFs are commercially available for upper-limb amputees: elbows, wrist rotators, and terminal devices. This is due, at least in part, to a lack of available inputs to control more motorized joints. In this study, we created a prosthesis for use in the laboratory with 6 powered DOFs to show that operation of a more highly articulated prosthesis is possible for a person with targeted reinnervation at the shoulder disarticulation level. It has not been possible to meaningfully control this number of DOFs in the past. Analyses of workspace,simultaneous control, and function were performed