The last few decades have produced significant improvements in the design of upper limb prostheses through the increasing use of technology. However the limited function exhibited by these devices remains rooted in their single degree of freedom format. Commercial myoelectric hand prostheses warrant high grip forces to ensure stable prehension due to a planar pincer movement. Hence precise and conscious effort is required on the part of the user to ensure optimum grip. Consumers have shown dissatisfaction with the status quo due to the excessive weight and poor function of existing artificial hands. Increasing the number of grasping patterns and improving the visual feedback from an object in the hand are cited as key objectives. This paper outlines the development of the six-axis Southampton-Remedi hand prosthesis that addresses these design issues by maintaining stable prehension with minimal grip force. Constraints such as modularity, anthropomorphism, and low weight and power consumption are factors that have been adhered to throughout the design process.