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. 2017 Nov 3;7:14480. doi: 10.1038/s41598-017-14834-7

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© The Author(s) 2017

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Both load and prosthetic knee mechanics significantly affected subjects’ rate of perceived exertion. Rate of perceived exertion distribution summary of all subjects shown for all four testing conditions. Red indicates load impedance parameters, and blue indicates no load impedance parameters. Matched conditions were conditions in which amputee subjects walked with powered knee impedance parameters tuned for the load they were carrying. Mismatched conditions were conditions in which amputee subjects walked with powered knee impedance parameters not tuned for the load they were carrying. Gray dots beyond the whiskers are data points greater than 1.5 times the interquartile range (i.e. colored regions).