Surface electromyogram (sEMG) is arguably the most sought-after physiological signal with a broad spectrum of biomedical applications, especially in miniaturized rehabilitation robots such as multifunctional prostheses. The widespread use of sEMG to drive pattern recognition (PR)-based control schemes is primarily due to its rich motor information content and non-invasiveness. Moreover, sEMG recordings exhibit non-linear and non-uniformity properties with inevitable interferences that distort intrinsic characteristics of the signal, precluding existing signal processing methods from yielding requisite motor control information. Therefore, we propose a multiresolution decomposition driven by dual-polynomial interpolation (MRDPI) technique for adequate denoising and reconstruction of multi-class EMG signals to guarantee the dual-advantage of enhanced signal quality and motor information preservation. Parameters for optimal MRDPI configuration were constructed across combinations of thresholding estimation schemes and signal resolution levels using EMG datasets of amputees who performed up to 22 predefined upper-limb motions acquired in-house and from the public NinaPro database. Experimental results showed that the proposed method yielded signals that led to consistent and significantly better decoding performance for all metrics compared to existing methods across features, classifiers, and datasets, offering a potential solution for practical deployment of intuitive EMG-PR-based control schemes for multifunctional prostheses and other miniaturized rehabilitation robotic systems that utilize myoelectric signals as control inputs.