This paper presents the design and integration of a 15-degree-of-freedom (DOF) myoelectric prosthetic hand as a modular solution for mobile assistive robotics. The system combines tendon-driven actuation and surface electromyography (sEMG) control with real-time sensor fusion using force-sensitive resistors (FSRs) and inertial measurement units (IMUs). Designed for seamless integration with mobile platforms and assistive exoskeletons, the hand enables dynamic object interaction across varying environments. Modular 3D-printed construction using PLA and TPU allows for cost-effective fabrication and structural compliance. Embedded sensors facilitate adaptive grip modulation, compensating for terrain changes and object variations. Experimental validation on a powered robotic base demonstrates stable grip performance, responsive force control, and robust manipulation in motion. The proposed hand achieves 94.8% grip stability and 92% task completion across varied surfaces and object types. These results highlight the design’s potential as a scalable, low-cost solution for real-world loco-manipulation tasks in mobile assistive settings.