Systems for improvising sensorimotor function of a patient, wherein the various systems can include at least one force and/or pressure sensor associated with at least one lower limb or prosthesis of the patient, at least one motion and/or angle sensor associated with at least one lower limb or prosthesis of the patient, a processor configured to receive force and/or pressure signals and motion and/or angle signals and generate an estimated center of pressure and a center of gravity, and generate balance stimulation signals based on the estimated center of pressure and the center of gravity, and at least one sensory stimulation unit disposed on at least one lower limb or prosthesis of the patient, wherein the at least one sensory stimulation unit comprises at least two stimulators that are actuable to provide stimulation to the patient based on the balance stimulation signals.