Our previous IoT based prosthetic arm prototype used servo motors to control finger movement through an Arduino Mega, which is connected to the muscle, pulse, and temperature sensors. The Arduino Mega was also connected to a Raspberry Pi 3 model B to transfer data from/to an online web application. One major limitation encountered during testing this prosthetic device was the space occupied by these components, which makes the device bulky. In addition, these servo motors cannot control the movement of the prosthetic device precisely. In this paper, we propose to improve on the existing prosthetic limb prototype by transitioning the electromechanical system to linear actuators and replacing the larger Arduino Mega and Raspberry Pi 3 with the smaller Arduino Nano and Raspberry Pi Zero W, respectively. These changes will result in a more cost-effective, more stable, and more accurate prototype, resulting in better performance.