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. 2019 Oct 17;16:118. doi: 10.1186/s12984-019-0602-0

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© The Author(s). 2019

Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided 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 Creative Commons Public Domain Dedication waiver (http://creativecommons.org/publicdomain/zero/1.0/) applies to the data made available in this article, unless otherwise stated.

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Fig. 1 — a Color-coded diagram of WASP, individually highlighting the components. b The entire WASP assembly fitted to a shod prosthetic foot. c Superior and inferior views of the WASP outsole with PTFE sheets and straps. d The trigger mechanism, detailing the internal electronics and the nichrome interface. e An example of the custom 3D printed buckles used to connect the two components via the fluorocarbon filament