In Mexico, upper-limb amputations are common, primarily caused by chronic diseases and trauma, resulting in a high demand for functional prostheses. However, many prostheses are abandoned due to issues with comfort, functionality, and aesthetics. Therefore, conducting biomechanical studies is essential to understand functional demands and design devices tailored to users’ real needs. This project focuses on the design and preliminary validation of a motion and force estimation system based on inertial sensors, aiming to facilitate the development of low-cost mechanical prostheses, specifically for gear-shift manipulation in vehicles. Kinematic analysis was performed using Kinovea software to capture and analyze hand movement during simulated maneuvers, complemented by data from an MPU6050 sensor connected to a microcontroller, which measured triaxial accelerations in real time. The comparison between both methods showed high agreement, with differences below 10%, validating the accuracy and complementarity of the inertial system and visual analysis. Results demonstrate that combining these techniques provides a robust biomechanical assessment, essential for designing and controlling functional prostheses that improve the quality of life and workforce reintegration of individuals with amputations.