This thesis presents the design and development of upper limb myoelectric prostheses with a focus on Fused Deposition Modelling (FDM) manufacturing and anthropomorphic design, aimed at laying the foundation of a functional prothesis that can improve the quality of life of the user. Two prototypes were elaborated under the scope of the thesis: an artificial tendon-driven-finger-based arm with twelve degrees of freedom and a linkage-driven-finger-based hand with six degrees of freedom. The former integrates electromyography (EMG) signal acquisition and processing along with a developed standard servo control algorithm. The second prototype presented an improvement in reliability by enabling the development of a symbolic kinematic model - a notable contribution due to the scarcity of these models in prosthetic literature-. This mathematical model allows for predictability in artificial finger motions, thus contributing to the development of a robust, precise control system. Additionally, a custom-designed printed circuit board (PCB) was developed to integrate EMG inputs, inertial sensors (IMU), PWM control, and encoder feedback for DC motor actuation. By addressing the recognized gap in literature this project contributes towards a medically validated myoelectric prothesis with full symbolic mathematical modelling with precise control algorithm.