1. A neuromuscular model-based controller for controlling at least one robotic limb joint of a robotic limb, the controller comprising: a) a neuromuscular model including a muscle model, muscle geometry and a reflex feedback loop, wherein the reflex feedback loop conveys feedback data of at least one of muscle force, muscle length and muscle contractile velocity of the muscle model, to thereby adjust activation of the muscle model, and wherein one or more parameters that determine the relation between the feedback data and activation of the muscle model are adjusted consequent to sensory data from at least one of an intrinsic sensor and an extrinsic sensor, the neuromuscular model employing the muscle model and the muscle geometry to determine at least one of a torque command and an impedance command; and b) a control system in communication with the neuromuscular model, whereby the control system receives at least one of the torque command and the impedance command from the neuromuscular model and controls at least one of position, torque and impedance of the robotic limb joint.