A method of controlling atransfemoral prosthetic device, comprising: monitoring, with at least one sensor (302, 720), at least one of position and movement of a transfemoral prosthetic device, wherein the device comprises: a foot unit, a tibial member pivotally attached to the foot unit, a first actuator operatively coupled to the foot unit and to the tibial member, wherein the first actuator is configured to actively adjust an ankle angle between the foot unit and the tibial member, a femoral member pivotally attached to the tibial member, and a second actuator operatively coupled to the tibial member and to the femoral member, wherein the second actuator is configured to adjust a knee angle between the tibial member and the femoral member; generating data indicative of the at least one of position and movement; processing the data to determine a gait cycle phase and a locomotion type; during a swing phase of the gait cycle phase: actuating the first actuator to move the foot unit relative to the tibial member in a manner that substantially mimics the movement of a healthy ankle; and adjusting the ankle angle between the foot unit and the tibial member based on a pre-determined ankle angle adjustment corresponding to the determined locomotion type to provide for toe lift based on a gait speed of a user of the transfemoral prosthetic device; and during the swing phase of the gait cycle phase, actuating the second actuator to move the tibial member relative to the femoral member in a manner that substantially mimics the movement of a healthy kneejoint attached to a healthy ankle joint. monitoring, with at least one sensor (302, 720), at least one of position and movement of a transfemoral prosthetic device, wherein the device comprises: a foot unit, a tibial member pivotally attached to the foot unit, a first actuator operatively coupled to the foot unit and to the tibial member, wherein the first actuator is configured to actively adjust an ankle angle between the foot unit and the tibial member, a femoral member pivotally attached to the tibial member, and a second actuator operatively coupled to the tibial member and to the femoral member, wherein the second actuator is configured to adjust a knee angle between the tibial member and the femoral member; a foot unit, a tibial member pivotally attached to the foot unit, a first actuator operatively coupled to the foot unit and to the tibial member, wherein the first actuator is configured to actively adjust an ankle angle between the foot unit and the tibial member, a femoral member pivotally attached to the tibial member, and a second actuator operatively coupled to the tibial member and to the femoral member, wherein the second actuator is configured to adjust a knee angle between the tibial member and the femoral member; generating data indicative of the at least one of position and movement; processing the data to determine a gait cycle phase and a locomotion type; during a swing phase of the gait cycle phase: actuating the first actuator to move the foot unit relative to the tibial member in a manner that substantially mimics the movement of a healthy ankle; and adjusting the ankle angle between the foot unit and the tibial member based on a pre-determined ankle angle adjustment corresponding to the determined locomotion type to provide for toe lift based on a gait speed of a user of the transfemoral prosthetic device; and actuating the first actuator to move the foot unit relative to the tibial member in a manner that substantially mimics the movement of a healthy ankle; and adjusting the ankle angle between the foot unit and the tibial member based on a pre-determined ankle angle adjustment corresponding to the determined locomotion type to provide for toe lift based on a gait speed of a user of the transfemoral prosthetic device; and during the swing phase of the gait cycle phase, actuating the second actuator to move the tibial member relative to the femoral member in a manner that substantially mimics the movement of a healthy kneejoint attached to a healthy ankle joint.