1. A model-based neuromechanical 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 tendon lever arm and muscle tendon length equations and reflex control equations, the neuromuscular model being configured to receive feedback data relating to a measured state of the robotic limb and, using the feedback data, and the muscle model, muscle tendon lever arm and muscle tendon length equations and reflex control equations of the neuromuscular model, to determine at least one torque command; and b) a torque control system in communication with the neuromuscular model, whereby the torque control system receives the at least one torque command from the neuromuscular model for controlling the robotic limb joint.