Using Serious Games (SG) in virtual rehabilitation is favorable since it allows users to evolve in their training process, while enjoying the tasks and challenges proposed. In this paper, the authors present a pilot test that uses an immersive Virtual Reality (iVR)-based Serious Game to simulate a myoelectric prosthesis, which is controlled by EMG signal processing (muscle activity reading). EMG signals, as in real life, control the opening and closing of the virtual prosthesis, and vibrational elements placed on the user’s forearm provide sensory feedback to enhance the feeling of touching. Evidence presented in this work shows that users utilizing tactile feedback demonstrated improved performance and the Serious Game helped to accomplish the training tasks.