Table 2. Change of Mechanical Work on TF Subjects in Each Gait Phase when the Prosthesis Control Mode Was Switched from Level-ground Walking to Ramp Ascent (W→RA) at Timings that Were Reported Unstable (IDS_1, SS_1, TDS_2, SWF_2, and SWE_2).

	One Gait Cycle before Transition					One Gait Cycle after Transition
Unstable Task Transitions	IDS	SS	TDS	SWF	SWE	IDS	SS	TDS	SWF	SWE
IDS_1	0.084 *	0.017 *	-	-	-	-	-	-	-	-
SS_1	-	0.014 *	-	-	-	-	-	-	-	-
TDS_2	-	-	-	-	-	-	-0.010 *	-	-	-
SWF_2	-	-	-	-	-	-	-0.010 *	-0.049	-	-
SWE_2	-	-	-	-	-	-	-0.009 *	-0.049	-0.122	-

Note: The values were averaged across two TF subjects.

“*” indicated that the change of mechanical work was out of the tolerable range that was observed in the previous study.

“-” meant that the mechanical work change was not calculated. The unit of mechanical work change was J/Kg.