People
do descend from apes, and are in fact still apes right now. Apes and monkeys are not different categories. "Monkey" is the parent category, and "ape" is specific subset of that. So people are in fact monkeys right now too.
The descriptions you posted for prosimians, monkeys and apes are inaccurate, especially since there are many many more examples in the fossil record which you didn't account for. That would add another 50 species of ape, some of which had equal length arms and legs. Many new world monkeys have much longer arms than they have legs, and some old world monkeys other than apes also lack tails. Not all prosimians have a tooth comb. And of course chimpanzees and orangutans can both grow beards.
There is a critical flaw in how you're looking at all these groups. But that's understandable since even many primatology websites have conflicting errors in them too. So let me explain how it really is.
All primates are classified as
Anthropoidea, a taxonomic order of hind-leg dominant Archontids with opposable thumbs, a shortened rostrum, and a large braincase. They have an unfused and highly mobile radius and ulna in the forelimb and tibia and fibula in the hindlimb.
This group includes both prosimians, (Strepsirrhini) and simians, AKA "monkeys", sub-order
Haplorhini. Monkeys are primates with binocular vision, a pendulous penis, a well-developed caecum, a large brain, two pectoral mammae, and a tendancy toward bipedalism.
This group includes two major divisions of New World monkeys, (infraorder Platyrrhini) and Old World monkeys, (infraorder,
Catarrhini). Compared to parent or sister groups, the Catarrhine subset have elevated intelligence, downturned nostrils, flat fingernails, and are without prehensile tails.
Catarrhini includes two primary subgroups; Cercopithecoidea and Propliopithecoidea. All of the latter group are now extinct except for one surviving subset,
Hominoidea, commonly referred to as "apes". Apes are exclusively-tailless Old World monkeys with oversized brains, and individually-distinctive fingerprints on arms with a shoulder arc capable of brachiation and complete rotation.
Hominoidea includes two subgroups, Hylobatidae, the "lesser" apes, and
Hominidae, the "great" apes. These have especially large, unusually intelligent brains capable of comprehending language, or of making and using simple tools. Compared to other primates, including lesser apes, Hominids have relatively sparse fur, and they all share a genetic mutation disabling their ability to synthesize vitamin C. As a result, they have to suppliment that in their diet or they'll succumb to scurvy. They are primarily identified by their unique dentition which includes 32 teeth consisting of incisors, cuspids, bicuspids, canines, and molars, the latter of which have four roots, and come to five points interrupted by a Y-shaped crevasse.
Exactly how great apes should be ordered taxonomically has been hotly disputed, and there have been many competing concepts, as illustrated
here. But Hominidae has been substantially reclassified in light of recent revelations in molecular phylogeny, such that the genus, Pongo is now limited to Orangutans and their ancient ancestors, Sivapithecus and Gigantopithecus etc. The remaining hominids are divided between Homininae, (which includes knuckle-walking apes) and Hominini (also known as humanoids) which are exclusively bi-pedal great apes.
Hominini typically consists of Australopithecines, Paranthropines, and Homoines (humans) along with some satellite species, like Ardipithecus and Kenyanthropus, etc.
There. Does that clear it up for you at all?