Abstract: Embodiments of the present invention relate to an orthotic device used for controlling motion of a human foot in a functionally corrected anatomical position from heel strike through toe off. The orthotic device may include at least one of rearfoot, midfoot, forefoot, and toe regions. In each region corresponding medial and lateral wedges may be employed. In the rearfoot region, the medial and lateral wedges intersect at an expected contact location of a medial side of a midline of a heel of the human foot. In the midfoot region, the medial and lateral wedges intersect inclusively between expected contact locations of a first cuneiform bone and a cuboid bone. In the forefoot region, the medial and lateral wedges intersect inclusively between expected contact locations of first and fifth metatarsal bones. In the toe region, the medial and lateral wedges intersect inclusively between expected contact locations of first and fifth toes.