1. A motorized prosthetic or orthotic device (POD) comprising: a first segment including a joint member and a second segment coupled with the first segment via the joint member; an actuator configured to control motion of the second segment relative to the first segment; a control system for operating the POD, comprising: a reactive layer which commands and controls motion of the second segment relative to the first segment; and an inference layer configured to receive an input stream comprising a first set of data accumulated during one or more gait cycles, the first set of data including one or more measurements of at least one of a vertical displacement associated with the first segment or the second segment, a horizontal displacement associated with the first segment or the second segment, and an angle associated with the first segment or the second segment with respect to gravity; wherein the inference layer is configured to identify a locomotion activity of a user of the POD based at least on the first set of data and transmit information regarding the locomotion activity to the reactive layer to control motion of the second segment relative to the first segment.