While prosthetic fitting after upper-limb loss allows for restoration of motor functions, it deprives the amputee of tactile sensations that are essential for grasp control in able-bodied subjects. Therefore, it is commonly assumed that restoring the force feedback would improve the control of prosthesis grasping force. However, the literature regarding the benefit of feedback is controversial. Here, we investigated how the type of feedback affects learning and steady-state performance of routine grasping with a prosthesis. The experimental task was to grasp an object using a prosthesis and generate a low or high target-force range (TFR), both initially unknown, in three feedback conditions: basic auditory feedback on task outcome, and additional visual or vibratory feedback on the force magnitude. The results demonstrated that the performance was rather good and stable for the low TRF, whereas it was sub-stantially worse for the high TFR with a pronounced training effect. Surprisingly, learning curve and steady-state performance did not depend on the feedback condition. Hence, in the specific context of routing grasping with a prosthesis controlled via surface EMG, the basic feedback on task outcome was not outperformed out by force-related end-of-trial feedback and hence seemed to be sufficient for accomplishing the task.