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Current designs of commercial arm prostheses do not support a modular approach, meaning an arm customized to the user becomes an assembly of disparate devices. The ToMPAW consortium was created to build on each participant's earlier experiences with limb fitting, orthopedic, technological engineering, and precision manufacturing techniques to create a whole-arm system from fingers to shoulder joint that was fully modular, both mechanically and electronically. A modular control system has been implemented that serves as a platform for research in upper-limb prosthetics. The modular approach enables each prosthesis to be easily modified, programmed, or extended according to each individual's needs, thus making it possible to try out different control schemes and mechanical realizations building on a small set of modules. Four experimental hands and two arm systems have had limited clinical use at two centers in the United Kingdom and Sweden. In addition, advanced arm control could be easily implemented with few changes to the system. A modular approach has the potential to cut limb-fitting costs by reducing the time needed for fitting and maintenance and the number of articles to be held in stock, either by the supplier or at the limb center. [ABSTRACT FROM AUTHOR]