Figure 6. Schematic of the experimental setup.

The ankle-foot prosthesis emulator comprised a powerful off-board motor and controller, a flexible tether transmitting mechanical power and sensor signals, and a lightweight instrumented ankle-foot prosthesis. Measures of prosthesis function were made using onboard sensors. Human subject mechanics and energetics were calculated from data collected using a reflective-marker motion capture system, a split-belt treadmill with force sensing, and a portable respirometry system.