A self-teaching lower limb prosthesis, for an above-kneeamputee, including a dynamically adjustable joint movement control unitarranged to control operation of the joint automatically. A control unitelectrically stores a target relationship between a kinetic or kinematicparameter of locomotion and walking speed. The relationship defines anumber of values of the parameter associated with different walking speeds.The control unit generates monitoring signals representative of walking speedvalues and values of the parameter occurring at different walking speeds. Anadjustment system adjusts the control unit automatically when the monitoringsignals indicate deviation from the target relationship so as to bring theparameters close to that defined by the target relationship.
