###### Abstract  
This paper presents the outcomes of investigations conducted on the development procedure of a personalized prosthetic device for an adult patient. The individualization is achieved through 3D scanning, followed by semi-automated design using the AutoMedPrint system, and low-cost fused deposition modelling (FDM) technology for 3D printing. The prosthesis is aimed for use during bicycle riding and other sport activities. During the conducted experiments outlined in this manuscript, the prosthesis is equipped with force and movement sensors. The purpose is to collect data on its functionality across different scenarios and dynamic activities, aiming to assess potential harm, refine the design, and serve as an initial step before activating the prosthesis end effector. This article describes the methodology in detail, including the process of designing, producing, and programming, as well as laboratory and field test results (including testing performed with and without a patient). Overall, the design and prototype are implemented successfully. A discussion about the need for particular improvements in both the mechanical and electrical areas is finally presented. upper limb prosthesis; 3D printing; wearable sensors +
Footnote †: journal: Applied Sciences  
transformed through biomechatronics, enhancing, augmenting, or supplementing human performance and overall convenience of life [4]. The initial implementation of biomechatronics in patient treatment aimed to replace standard rehabilitation therapies. However, recent studies indicate that biomechatronics may serve as a valuable tool in complementing, rather than substituting, rehabilitation. This is particularly significant with regard to behavioural aspects concerning sensory perception, motor adaptation, and neuronal motor skill learning [5]. One of the types of disability that is becoming increasingly common in developed countries is the lack of a full upper limb. The extent of amputation varies, but the most common causes are accidents, particularly for men, followed by cancer, vascular diseases, and infectious diseases. Amputation disrupts efferent and afferent pathways responsible for motor control and sensory feedback from the limb to the brain [6]. The complexity of neuronal changes that occur after amputation presents both a challenge and an opportunity for better planning of patient rehabilitation strategies. Answers to questions regarding the necessity of sensory feedback, learning motor control with prostheses, neuroplasticity, and individual patient needs complement each other, creating a deeper and more appropriate knowledge base for effective rehabilitation [7]. Prosthesis rejection is a well-known problem in amputation rehabilitation. As research indicates, better prosthesis quality, understood as emphasizing individual user needs and requirements, facilitates successful prosthetic fitting, increases prosthesis usage time, and minimizes the risk of prosthesis rejection [8]. Therefore, the possibility of easy and inexpensive prosthesis customization is an important factor that can significantly improve the well-being of people with disabilities. Additive manufacturing is a technology that allows for relatively inexpensive production of fully individualized products. This technology has found wide application in practically all fields of engineering, including medicine. Numerous medical devices, tailored to the anatomy of a specific patient, can be made through additive manufacturing techniques [9]. There are many different methods of additive manufacturing that differ significantly from one another. The most popular and economically accessible method is fused deposition modelling (FDM), also known as fused filament fabrication (FFF), which enables the production of thermoplastic products such as ABS (acrylonitrile-butadiene-styrene) and PLA (polylactic acid) [10]. There are many examples in the literature of various upper limb prostheses that are wholly or partially produced using additive manufacturing technology.