A prosthesis for replacing a missing extremity of a living being, in particular a human being, which prosthesis has: - one or more prosthesis members driven by means of actuators, wherein the proximal prosthesis member has a mechanical interface for attaching the proximal prosthesis member to the living being, - an interface to second sensors, which sense biosignals SIG BIO (t) of the living being for controlling the missing extremity, - third sensors for capturing data D UMG (t) that describe a current environment of the prosthesis, in particular objects and/or other living beings located in the area surrounding the prosthesis, characterized in that the prosthesis further has: - first sensors, which capture a current state ZUS(t) of the prosthesis, in particular a contact state of the prosthesis with an environment, - a prediction unit which determines a model MA(t) for an action A to be performed by means of the prosthesis on the basis of the biosignals SIG BIO (t) and the state ZUS(t) of the prosthesis and the data D UMG (t), and predicts motions B EWEG (M A (t)) of the prosthesis members for a time period [t, t+Δt], which motions are dependent on the model M A (t), - an evaluating unit, by means of which the discrete decision E to replace the action A with another action A' can be made on the basis of an evaluation of the biosignals SIG BIO (t), the state ZUS(t), the data D UMG (t) and the predicted motions B eweg (M A (t)) in accordance with a predefined evaluation scheme, wherein the action A' can define a reflexive and/or protective motion of the prosthesis that is autonomously controlled in an open-loop/closed-loop manner, and wherein, if the action A' does not define such a reflexive and/or protective motion of the prosthesis that is autonomously controlled in an open-loop/closed-loop manner, the prediction unit calculates a model M A' (t) of the action A' to be performed by means of the prosthesis and predicts motions B eweg (M A' (t)) of the prosthesis members for a time period [t, t+Δt] depending on the model M A' (t), and - a control unit, which derives control signals Sig(t) for controlling the actuators on the basis of the currently valid predicted motions B eweg (M A (t)) or B eweg (M A' (t)) or on the basis of the reflexive and/or protective motion autonomously controlled in an open-loop/closed-loop manner and controls the actuators in an open-loop/closed-loop manner on the basis of the control signals Sig(t). - one or more prosthesis members driven by means of actuators, wherein the proximal prosthesis member has a mechanical interface for attaching the proximal prosthesis member to the living being, - an interface to second sensors, which sense biosignals SIG BIO (t) of the living being for controlling the missing extremity, - third sensors for capturing data D UMG (t) that describe a current environment of the prosthesis, in particular objects and/or other living beings located in the area surrounding the prosthesis, - first sensors, which capture a current state ZUS(t) of the prosthesis, in particular a contact state of the prosthesis with an environment, - a prediction unit which determines a model MA(t) for an action A to be performed by means of the prosthesis on the basis of the biosignals SIG BIO (t) and the state ZUS(t) of the prosthesis and the data D UMG (t), and predicts motions B EWEG (M A (t)) of the prosthesis members for a time period [t, t+Δt], which motions are dependent on the model M A (t), - an evaluating unit, by means of which the discrete decision E to replace the action A with another action A' can be made on the basis of an evaluation of the biosignals SIG BIO (t), the state ZUS(t), the data D UMG (t) and the predicted motions B eweg (M A (t)) in accordance with a predefined evaluation scheme, wherein the action A' can define a reflexive and/or protective motion of the prosthesis that is autonomously controlled in an open-loop/closed-loop manner, and wherein, if the action A' does not define such a reflexive and/or protective motion of the prosthesis that is autonomously controlled in an open-loop/closed-loop manner, the prediction unit calculates a model M A' (t) of the action A' to be performed by means of the prosthesis and predicts motions B eweg (M A' (t)) of the prosthesis members for a time period [t, t+Δt] depending on the model M A' (t), and - a control unit, which derives control signals Sig(t) for controlling the actuators on the basis of the currently valid predicted motions B eweg (M A (t)) or B eweg (M A' (t)) or on the basis of the reflexive and/or protective motion autonomously controlled in an open-loop/closed-loop manner and controls the actuators in an open-loop/closed-loop manner on the basis of the control signals Sig(t).