This paper describes multimodal sensor control of powered transradial prosthesis applying mutual compensation method on dynamic acceleration and upper limb posture angle. The target of developing the control method is to improve the stability of accelerometer-based upper limb posture angle estimation in the multimodal sensor control system. The proposed method measures the dynamic acceleration and upper limb posture angle (static acceleration) by using differences in the dynamic characteristic of two accelerometers of the same type. Two experimental devices for identification of accelerometer dynamic characteristic transfer function. An identification experiment was conducted for the angle input accelerometer and the estimated 2nd order transfer function had a fit rate difference of approximately 1%.