The invention relates to an automated speed-adaptive and patient-adaptive control scheme and system for a knee prosthesis (110). The control scheme and system utilizes sensory information measured local to the prosthesis (110) to automatically adjust stance and swing phase knee resistances to a particular wearer under a wide variety of locomotory activities. Advantageously, no patient-specific information needs to be pre-programmed into the prosthetic knee (110) by a prosthetist or the patient. The system (110) is able to adapt to various types of disturbances once the patient leaves the prosthetist's facility because it is patient-adaptive and speed-adaptive.
