Myoelectric pattern recognition is widely used to control upper limb prostheses. However, the non-stationary characteristics of electromyography (EMG) signals, caused by physiological changes (e.g. muscle fatigue) or non-physiological changes (e.g. the electrode- skin impedance), hinder the use of prostheses and deteriorate the performance of the myoelectric control system. In this paper, a set of robust features is proposed to be integrated with adaptive learning techniques in order to improve the myoelectric performance. Four types of features are proposed, namely the H, HI, AI, and AIH features. The H features correspond to the histogram-oriented gradient (HOG) algorithm of the High-Density surface Electromyography map (HD-sEMG map). On the other hand, the HI features are generated by combining the H features and the intensity feature that is evaluated from the HD-sEMG map. AI is the intensity features calculated from the segmented HD-sEMG maps constructed in the individual channel. Finally, AIH features are obtained by combining the H features and AI features. Offline and online adaptive tests are conducted to evaluate the proposed features. The results show that employing the proposed AI features with an adaptive classifier improves the classification accuracy from 91.58% to 97.2% in online classification setups. Results also show that the AI features are more robust against noise than TD features. The average classification accuracy is reduced by 0.7% when additive White Gaussian noise is applied, in comparison to 5.8% reduction in accuracy when TD features is used. The results confirm the robustness of the proposed features extracted from the HD-sEMG map.