Yes! A procedure called targeted muscle reinnervation is now available. This procedure, done for arm amputees, implants the nerves that used to go to the hand to the muscles left in the upper arm. The brain can then control the upper arm muscles "thinking" that it is the hand. The prosthesis is designed to pick those signals and use them to move the prosthetic hand.
See below. Tere are prototypes currently being tested.