Access to functional prosthetic hands in developing countries such as Colombia is limited by economic, geographical, and technological factors. For this reason, a large number of patients with an absence of an upper limb do not have the possibility of acquiring prostheses and regain autonomy in activities of daily living. Commercial prostheses are expensive, require several annual maintenance assignments and complex training leading to premature abandonment of the prosthetic device. This paper presents the design of a myoelectric prosthetic hand prototype, which seeks to meet the most important needs of the upper limb amputee individual, starting from a low-cost approach, an intuitive control interface and the use of the most important degrees of freedom to achieve daily live activities. The mobility of the phalanges and joints was simulated in a computer system that allows the design in 3D, from the data processed by goniometry of the human hand. An actuation and control system were designed using a bioinstrumentation system, servo motors and a microcontroller. This proposal is a design phase, and it is expected in the next phase to be able to do the physical assembly and validation in the patient.