The success of pattern recognition based upper-limb prostheses control is linked to their ability to extract appropriate features from the electromyogram (EMG) signals. Traditional EMG feature extraction (FE) algorithms fail to extract spatial and inter-temporal information from the raw data, as they consider the EMG channels individually across a set of sliding windows with some degree of overlapping. To tackle these limitations, this paper presents a method that considers the spatial information of multi-channel EMG signals by utilising dynamic time warping (DTW). To satisfy temporal considerations, inspired by Long Short-Term Memory (LSTM) neural networks, our algorithm evolves the DTW feature representation across long and short-term components to capture the temporal dynamics of the EMG signal. As such the contribution of this paper is the development of a recursive spatio-temporal FE method, denoted as Recursive Temporal Warping (RTW). To investigate the performance of the proposed method, an offline EMG pattern recognition study with 53 movement classes performed by 10 subjects wearing 8 to 16 EMG channels was considered with the results compared against several conventional as well as deep learning-based models. We show that the use of the RTW can reduce classification errors significantly, paving the way for future real-time implementation.