Unintuitive and inefficient control schemes of electronic lower limb Prosthetics and Orthotics (P&O) limit the number of cases where they are a worthwhile intervention. Reliable and expressive representations of user intent, derived from Human Machine Interface (HMI) signals hold useful information required to create responsive controllers that anticipate the upcoming movement. This project investigates a virtual simulation testbed for designing and evaluating control strategy concepts during complex locomotion tasks, conditioned on the intent of the user. The estimation of this intent from real life signals, such as surface electromyography (sEMG) is also explored.