This paper presents the comparison of two types of electrodes, wet of type Ag/AgCl and dry of stainless steel, and the development of the acquisition and filtering of SEMG signals (surface Electromyography signals) for the control of robotic prosthetic printed in 3D for people with amputation of the upper limb. The work shows that the use of dry electrodes of stainless steel for the correct acquisition of muscle signals and the control of the prosthetic is viable. In addition, the possibility of performing the sequential movement of fingers using a single sensor (made up with three electrodes in only one module and a signal amplifier) using a low-pass filter is also shown. The results of this research will be useful for the development of more advanced and lower cost prosthetics for people with disabilities, and thus, these people can have a better quality of life in the future.