Embodiments of the systems and methods described herein relate to a control unit comprising a memory having stored thereon a feature database that includes feature data, a portion of which is labeled with a transition from an ambulation mode and a memory having stored thereon a pattern recognition controller that is trained using the labeled feature data, wherein the pattern recognition controller is configured to predict the ambulation mode of an assistive device and the control unit is configured to communicate with sensors coupled to the assistive device.
