1. A method for designing and constructing a limb prosthesis for an individual having an intact limb and an opposite partial limb, the method comprising: modeling the intact limb as a first rotational system using an equation of motion to obtain a first system model that represents the intact limb; modeling an opposite limb that comprises the partial limb and a limb prosthesis as a second rotational system that is physically dissimilar to the first rotational system using the equation of motion to obtain a second system model that represents the opposite limb; matching kinematic matching coefficients of the equations of motion for the first and second system models so they have the same motions to obtain mass and length parameters for the limb prosthesis; and constructing a physical limb prosthesis for the partial limb that has the obtained mass and length parameters, wherein, when the limb prosthesis is worn by the individual, the opposite limb has kinematics that match the kinematics of the intact limb.