Abstract: Disclosed is a method of controlling a prosthetic device. The method includes acquiring electromyographic (EMG) signals from one or more active electrodes configured to be in physical contact with a user, analyzing the acquired electromyographic (EMG) signals to determine the intent of the user and measuring one or more positional covariates associated with the user's residual limb. The method further includes controlling the prosthetic device in proportional response to the determined intent, wherein signal variations caused due to the positional covariates are compensated and providing multi-point sensory feedback to the user in response to the dynamics of the device, wherein the sensory feedback is provided via a wearable device that can be donned on or off by the user.