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Several attempts have been made to enhance the control of highly sensorized prostheses. One of the main goals is to create a bidirectional link between the prosthesis and the nervous system. Several approaches based on noninvasive and invasive interfaces have been developed and tested. Among these, interfaces with the peripheral nervous system (PNS), especially longitudinal intrafascicular electrodes (LIFEs), seem to be a promising solution. This chapter presents the potential and the limits of these interfaces for the control of prosthetic devices. It reviews the state of the art of artificial hand control based on the use of invasive interfaces with the PNS. Decoding algorithms represent a critical step for electroneurographic (ENG)-based hand prosthesis control. Algorithms have been mainly developed for the closed-loop control of functional electrical stimulation (FES) systems. Several techniques have been developed to provide noninvasive tactile or proprioceptive information to the amputees.