Abstract: A method for determining an intervention to improve use of upper limb prosthesis which includes instructing a person having an upper limb prosthesis to perform a plurality of tasks, including but not limited to, using the prosthesis in multiple planes, using the prosthesis with a plurality of grasp patterns, using the prosthesis at various distances from the body, using the prosthesis in unilateral and bilateral tasks, and using the prosthesis while the person is arranged in various positions. The method further includes, for each of the plurality of tasks, determining a category score for categories comprising control skills, component feature utilization, compensatory movement, and task completion, and obtaining a cumulative category score for each of the categories based on the category score for each of the plurality of tasks. The method further includes determining an intervention for improving use of the upper limb prosthesis based on at least the cumulative category score for each of the categories.