System for control of a prosthetic device

An arm prosthetic device comprising a plurality of actuators each configured to control the prosthetic arm, each actuator of the plurality of actuators including actuation limits defining an actuation range for the actuator, and a control module for commanding the plurality of actuators, the control module in communication with at least one sensor module, the at least one sensor module housed separately from the prosthetic device and independently movable relative thereto, the at least one sensor module adapted to detect orientation changes of the at least one sensor module, the control module configured to perform operations comprising:

• receiving at least one orientation signal from the sensor module, the orientation signal being indicative of a commanded direction of movement of the prosthetic device;
• evaluating whether the prosthetic device may move in the commanded direction based on a current angle of rotation of the prosthetic device;
• commanding at least one actuator of the plurality of actuators to move the prosthetic device in the commanded direction;
• and
• adjusting the angle of rotation of the prosthetic device in accordance with the actuation limits of the plurality of actuators.