In order to control at least one adjustable actuator of a connection apparatus to an orthopaedic device with lower limbs, actual values of at least two movement parameters of the orthopaedic device are continuously acquired by at least two sensors. A functional relationship is established between the sequences of actual values of the at least two movement parameters. This functional relationship is continuously repeatedly compared to functional relationships in the case of defined movement patterns in order to select in each case the movement pattern which fits best to the acquired actual values. Then control signals for the actuator are generated using a sequence of intended values defined for the best-fitting movement pattern.
