Biomimicry is the method of adapting concepts from nature to produce more sustainable technologies for mankind. It is of particular interest to the biomedical soft robotic field specifically applied to smart prostheses. Unlike the typical prostheses that employs metal and geared actuators, a biomimicking smart prosthesis emphasizes on the use of highly complaint soft biocompatible materials. A recent advancement in this field is a biomimicking soft actuator known as the HASEL (Hydraulically Amplified Self-healing ELectrostatic) actuator. They represent a leap forward in the soft robotics field as they showcase many similarities with human muscles to the point that the actuator could easily be extended while in place. This paper reviews the susceptibility of the HASEL actuators for upper-limb smart prosthesis. We first reviewed the structural analysis of HASELs followed by their prevailing control system mechanisms. Finally, we concluded the paper by discussing the challenges for HASEL to be used as a smart prosthesis limiting to the upper-limb scenario.