The present invention is directed to state-of-the-art medical devices using smart materials and related emerging technologies under development for robotics. In particular, the present invention is directed to the development of rehabilitative (i.e. prosthetic, orthotic, surgical) devices actuated by smart material artificial muscles to increase the dexterity and agility of an artificial limb or a dysfunctional body part, so that movement of the limb more accurately simulates movement of a human appendage. A kinetic assistive device is provided is provided which is constructed of a lightweight material (such as aluminum) and has a plurality of smart material actuators attached thereto. A system for detecting environmental stimulation of the device is provided in electrical communication with such actuators to effect movement of said device in response to detection signals produced thereby. The system includes a plurality of sensors, such as proximity detectors, accelerometers, tactile sensors and the like which are mounted on the assistive device and which provide data to computer-controlled command circuitry. This data can be encoded and used to control the movement of the assistive device via the actuators to more accurately predict the performance of the device in relation to that of an actual human limb.