A motorized prosthetic or orthotic device comprising: a proximal segment; a distal segment; a joint segment coupling the proximal segment to the distal segment; an actuator coupled to the distal segment and configured to actuate the distal segment with respect to the proximal segment; and a controller configured to: generate one or more control parameters based on locomotion data of a user and at least one physiological characteristic of the user, and transmit control signals to the actuator based on one or more tuned control parameters; characterized in that the controller comprises a dynamic gain tuner, said controller is further configured to: determine whether a difference between a measured deflection value and an expected deflection value falls within a tolerance level, generate, using said dynamic gain tuner, the one or more tuned control parameters by dynamically modifying at least one of the one or more control parameters using a gain scaling factor, wherein the controller generates the one or more tuned control parameters when it is determined that the difference between the measured deflection value and the expected deflection value falls outside the tolerance level. a proximal segment; a distal segment; a joint segment coupling the proximal segment to the distal segment; an actuator coupled to the distal segment and configured to actuate the distal segment with respect to the proximal segment; and a controller configured to: generate one or more control parameters based on locomotion data of a user and at least one physiological characteristic of the user, and transmit control signals to the actuator based on one or more tuned control parameters; characterized in that the controller comprises a dynamic gain tuner, said controller is further configured to: determine whether a difference between a measured deflection value and an expected deflection value falls within a tolerance level, generate, using said dynamic gain tuner, the one or more tuned control parameters by dynamically modifying at least one of the one or more control parameters using a gain scaling factor, wherein the controller generates the one or more tuned control parameters when it is determined that the difference between the measured deflection value and the expected deflection value falls outside the tolerance level. generate one or more control parameters based on locomotion data of a user and at least one physiological characteristic of the user, and transmit control signals to the actuator based on one or more tuned control parameters; characterized in that the controller comprises a dynamic gain tuner, said controller is further configured to: determine whether a difference between a measured deflection value and an expected deflection value falls within a tolerance level, generate, using said dynamic gain tuner, the one or more tuned control parameters by dynamically modifying at least one of the one or more control parameters using a gain scaling factor, wherein the controller generates the one or more tuned control parameters when it is determined that the difference between the measured deflection value and the expected deflection value falls outside the tolerance level. determine whether a difference between a measured deflection value and an expected deflection value falls within a tolerance level, generate, using said dynamic gain tuner, the one or more tuned control parameters by dynamically modifying at least one of the one or more control parameters using a gain scaling factor, wherein the controller generates the one or more tuned control parameters when it is determined that the difference between the measured deflection value and the expected deflection value falls outside the tolerance level.