In contemporary studies within the upper-limb prosthetic field, current investigations persistently revolve around the research of innovative control methodologies. These works are driven by the intention to diminish cognitive fatigue experienced by users while simultaneously enhancing the resilience and intuitiveness of control mechanisms. Several investigations have introduced approaches involving the exploitation of corrective movements as indicators of control system error, effectively closing the control loop. In prior studies, a predetermined linkage associates specific compensatory motions with distinct degrees of freedom in prosthetic devices. In contrast to this precedent, our study introduces a methodology that circumvents this intermediary step, enabling a direct mapping between human motions and the number of prosthetic joints. The proposed algorithm has been instantiated and validated using Matlab/Simulink, employing a simulated scenario featuring a trans-humeral prosthetic user.