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. Author manuscript; available in PMC: 2015 Jan 7.
Published in final edited form as: IEEE Trans Neural Syst Rehabil Eng. 2011 Jun 23;19(4):411–419. doi: 10.1109/TNSRE.2011.2159018

Figure 1.

Figure 1

Controlled Energy Storage and Return (CESR) prosthesis prototype. The CESR foot stores energy in a compression spring after heelstrike, locks the spring energy into place with a clutch and then returns the energy during terminal stance in the form of plantarflexion push-off work. This energy recycling foot provides improved energy return as compared to conventional passive prostheses (Collins and Kuo, 2010).