1. A control system for controlling a motorized prosthetic or orthotic device (POD) that is actuatable about a joint, the control system comprising: a first inertial measurement unit (IMU) associated with a first segment of a user and configured to collect a first set of data, wherein the first set of data includes one or more measurements of at least one of a vertical displacement of the first segment, a horizontal displacement of the first segment, a torque associated with the first segment, and an absolute angle of the first segment with respect to gravity; a second IMU associated with a second segment of the POD and configured to collect a second set of data, wherein the second set of data includes one or more measurements of at least one of a vertical displacement of the second segment, a horizontal displacement of the second segment, a torque associated with the second segment, an absolute angle of the second segment with respect to gravity, and a net torque between the first segment and the second segment; and an inference layer in communication with the first IMU and the second IMU and configured to: receive the first set of data from the first IMU and the second set of data from the second IMU, and identify a locomotion activity of the user based on at least the first set of data and the second set of data.