Methods for controlling gait devices include measuring kinematic and/or loading states of limb or robotic segments； conditioning the resulting state measurement by any combination or order of integration, differentiation, filtering, and amplification； transforming conditioned state measurements by coordinate transformation； optionally conditioning the transformed state measurements a second time in a manner similar to the first conditioning step； and using the transformed or conditioned transformed state measurements as independent variables in a predetermined reference function to calculate a desired reference command for any number of actuators.
