1. A model-based neuromechanical controller for a robotic limb comprising at least one joint, the controller comprising: a muscle model processor, the muscle model processor being configured to receive feedback data relating to the state of the robotic limb and, using muscle geometry and reflex architecture information, to determine at least one desired joint torque or impedance command to be applied to the robotic limb; and a joint command processor, the joint command processor being configured to apply the biomimetic torques or impedances determined by the muscle model processor to at the robotic limb joint.