This study explores the potential of IMU-based controllers as an effective and accessible controller alternative. By creating a noninvasive foot controller for below-the-shoulder prosthetic arms, a user is able to utilize ankle movements and toe presses to control their prosthesis. With integrated haptic feedback the controller establishes an intuitive interaction between the device and the user through comfirming actions, and notifying them of important alerts. A prosthetic prototype was devloped to study how many degreees of freedom need to be controlled and a virtual reality environment tested the controllers functionality.