A multi-functional limb movement auxiliary device, comprising - a base member, - a socket member that is configured to at least partially receive a portion or remaining portion of a limb, - a plurality of limb movement auxiliary device members, each limb movement auxiliary device member being connected in an articulated way to at least one out of the base member or a different limb movement auxiliary device member, - a plurality of actuators that are connectable to an electric power source, wherein each actuator is configured to move, upon activation, at least one limb movement auxiliary device member out of the plurality of limb movement auxiliary device members in an articulated way, and wherein the plurality of actuators is configured to enable articulated movements of limb movement auxiliary device members in at least two independent degrees of freedom, - a bio-signal sensing unit that is configured to acquire bio-signals indicative of motor activity from the portion or remaining portion of the limb, - a control unit, including at least one processor unit and at least one digital data memory unit (28, 30) to which the at least one processor unit has data access, characterised in that said control unit is configured to receive and evaluate the acquired bio-signals, with regard to estimating an intended movement, by carrying out a method comprising at least steps of - digitally converting the acquired bio-signals, - applying a novelty detection method for comparing the digitally converted, acquired bio-signals with data that reside in the at least one digital data memory unit (28, 30) and that represent bio-signals in response to a set of movements, and, based on a result of the comparison, for assigning a similarity measure to the digitally converted, acquired bio-signals, - applying at least one sequential estimator (SEQ-E) to the digitally converted bio-signals, if the assigned similarity measure is equal to or larger than a pre-determined threshold value, - applying at least one simultaneous estimator (SIM-E) to the digitally converted bio-signals, if the assigned similarity measure is less than the pre-determined threshold value, and is further configured to activate at least one actuator out of the plurality of actuators, based on a result of applying the at least one sequential estimator (SEQ-E) or the at least one simultaneous estimator (SIM-E) to the digitally converted bio-signals. - a base member, - a socket member that is configured to at least partially receive a portion or remaining portion of a limb, - a plurality of limb movement auxiliary device members, each limb movement auxiliary device member being connected in an articulated way to at least one out of the base member or a different limb movement auxiliary device member, - a plurality of actuators that are connectable to an electric power source, wherein each actuator is configured to move, upon activation, at least one limb movement auxiliary device member out of the plurality of limb movement auxiliary device members in an articulated way, and wherein the plurality of actuators is configured to enable articulated movements of limb movement auxiliary device members in at least two independent degrees of freedom, - a bio-signal sensing unit that is configured to acquire bio-signals indicative of motor activity from the portion or remaining portion of the limb, - a control unit, including at least one processor unit and at least one digital data memory unit (28, 30) to which the at least one processor unit has data access, - digitally converting the acquired bio-signals, - applying a novelty detection method for comparing the digitally converted, acquired bio-signals with data that reside in the at least one digital data memory unit (28, 30) and that represent bio-signals in response to a set of movements, and, based on a result of the comparison, for assigning a similarity measure to the digitally converted, acquired bio-signals, - applying at least one sequential estimator (SEQ-E) to the digitally converted bio-signals, if the assigned similarity measure is equal to or larger than a pre-determined threshold value, - applying at least one simultaneous estimator (SIM-E) to the digitally converted bio-signals, if the assigned similarity measure is less than the pre-determined threshold value,