Volitional control systems for powered prostheses require the detection of user intent to operate in real-life scenarios. Ambulation mode classification has been proposed to address this issue. However, these approaches introduce discrete labels to the otherwise continuous task which is ambulation. An alternative approach is to provide users with direct, voluntary control of the powered prosthesis motion. In this study, we show that a small and lightweight A-mode ultrasound system can continuously predict prosthesis joint kinematics in seven individuals with transfemoral amputation across different ambulation tasks. Features from the A-mode ultrasound signals were mapped to the user’s prosthesis kinematics via an artificial neural network. This study lays the foundation for future applications of A-mode ultrasound for volitional control of powered prostheses during a variety of daily ambulation tasks. The manuscript is freely available at this link: Continuous A-Mode Ultrasound-Based Prediction of Transfemoral Amputee Prosthesis Kinematics Across Different Ambulation Tasks | IEEE Journals & Magazine | IEEE Xplore