- PROSTHESIS The invention relates to a prosthesis to replace a missing extremity of a living being, which has: one or more prosthetic links driven by means of actuators (101), first sensors 5 (102), which sense a current state ZUS(t) of the prosthesis an interface to second sensors (103), sense SIG BIO (t) th e being control missing extremity sensors for data UMG (t), describe current environment of the prosthesis a prediction unit (105), which determines, based on the biosignals SIG BIO (t) and on the state ZUS(t) of t he prosthesis and of the data D UMG (t), a 10 model A to the prosthesis motions Beweg(M A (t)), dependent on the model M A (t), of the prosthetic links for a period of time [t, t+ ∆t] an evaluating unit (106), by mea ns of which the discrete decision E to replace the action A with another action A’(E) can be determined on the basis of an evaluation of the biosignals SIGBIO(t), of the state ZUS(t), of the data D UMG (t), and of the predicted 15 motions eweg (M A (t)) accord ance a evaluation wherein action can a and/or motion the that autonomously controlled in an open - loop/closed - loop manner, and wherein, if the action A(E) 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 (105) 20 determines a model M A’ (t) of the action A’ to be performed by means of the prosthesis and predicts motions B e weg (M A’ (t)), dependent on the model M A’ (t), of the prosthetic links for a time period [t, t+ ∆t] and a control unit (107), which derives control signals Sig(t), based on the currently valid, predicted motions B eweg (M A (t)) or B eweg (M A’ (t)) or based on the reflexive and/or protective motion autonomously controlled in an open - loop/closed - 25 loop manner, for controlling the actuators and controls/regulates the actuators based on the control signals Sig(t). Fig. 1
