This paper assesses the performance of a lightweight, compact, portable, and wearable cable-driven robotic hand prosthesis called PARS (Prosthesis Adaptive Robotic System). Initially, a mathematical model was developed, followed by the design and fabrication of a Neuro controller. The functionality of the robotic hand was confirmed through both simulations and experimental tests. The pilot study demonstrated that the proposed Neuro controller effectively tracks various desired joint trajectories and performs well in real-world applications. Experimental results indicated a strong correlation between the robotic hand prosthesis (RHP) and the human hand in terms of vertical position, speed, and acceleration during flexion and extension. The Neuro controller surpassed traditional PID in stability and accuracy. This study underscores the practical potential of developing advanced tools for assisting disabled individuals. However, further improvements are needed to enhance practicality, such as integrating force sensors and making the hardware more compact. Additionally, improving the control software to support simultaneous position and active force control could boost system performance in more complex tasks.