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Scheme of the technical system. (a) Sensors at the prosthesis foot detect ground contact and send signal to lower leg module (LLM) (b); LLM (b) sends information to upper leg module (ULM) (c) via Bluetooth connection; ULM (c) generates electrocutaneous stimulation signals that are applied via stimulation electrodes (d) at the thigh; inset (a) bottom view of the prosthesis foot with three sensors.
