Recent developments in shoulder powered prosthesis control can be divided into two types. The first type, as seen in development at Northwestern University, is depended on a myo-electrical signal replacement surgery in the chest area to allow the control of shoulder rotation, elevation, arm flexion and extension and the opening closing of the hand. On the other hand, our research focuses on using a microcomputer to control pre-developed patterns of the different motions. From our experience in position control of the shoulder prosthesis, this project proposes the need for force control in each of the joints set on the desk. A major concern of the shoulder prosthesis is the need of simultaneously control on its with the consideration of external loads. The external loads on the prosthesis post-installment are significant enough that the position control heavily depends on these external loads. This project proposes our bilateral servo system as a solution for near future desktop type shoulder prosthesis to provide the necessary position and force controlled by myo-electrical command.