Introduction: Prosthesis simulators are essential tools for research and rehabilitation. They can be used to increase the amount of participants in research studies or to assist in rehabilitation. The main goal of this master thesis is to design a functioning prosthesis simulator, which can be used with commonly used terminal devices. A second goal is that the design needs to be accessible for multiple research groups and rehabilitation centers. The last goal is that the design needs to solve the problems that currently exist with prosthesis simulators: sub-optimal position of terminal device and lack of restriction of degrees of freedom of intact arm. Methods: The design requirements were based on the goals and a function analysis which included the state of the art of prosthesis simulators. Based on these design requirements the final design of The Delft Pro Simulator was developed. The design method that was used was a combination of the basic design cycle and the Fishtrap model. Results: The Delft Pro Simulator is a novel 3D-printable design that is accessible for multiple users. The design consists of only 14 parts and weighs 356 grams. The design is minimal-assembly and the material cost is low. The simulator is able to constrain pro- and supination of the intact arm. It can be worn on the left or the right arm. The socket can be used with all terminal devices with the American standard bolt (1/2"-20) and the European standard bolt (M12x1.5). A user tested the functional performance of the design with two standardized tests, the Box and Blocks Test and the Nine Hole Peg Test. Discussion and conclusion: This report presents a novel prosthesis simulator design. The goals have all been achieved. The design can be used with all commonly used terminal devices. Use with a myoelectric device has not been tested, but should be possible with minor adaptations. Most parts of the simulator can be 3D-printed except for some parts which are very accessible. The design can be used with two possible orientations of the terminal device with respect to the intact hand (dorsal and palmar). The simulator is able to accurately simulate transradial limb absence by constraining pro- and supination of the intact arm, while leaving flexion and extension free.