1. A method of generating one or more tuning parameters for use in an algorithm that generates positional information used to generate movement commands for controlling a robotic prosthetic device based on activity parameters of a plurality of units of a subject, each unit being associated with one or more neurons of the subject, said one or more tuning parameters describing how said activity parameters are modulated with velocity, the method comprising: automatically moving said prosthetic device to one or more locations; measuring a first set of one or more activity parameters of each of said units during said step of automatically moving; generating a first set of said one or more tuning parameters based on at least said first sets of one or more activity parameters; performing a first subject controlled movement iteration wherein: (i) said prosthetic device is moved to said one or more locations by a combination of first automatic control of said prosthetic device and first subject control of said prosthetic device, wherein said first subject control of said prosthetic device is based on a set of movement commands generated from positional information generated by said algorithm based on said first set of said one or more tuning parameters and a second set of one or more activity parameters of each of said units measured during the first subject controlled movement iteration; and (ii) a subsequent set of said one or more tuning parameters is generated based on at least said second sets of one or more activity parameters.