CRS	Clamp Reference System
FRS	Foot Reference System
GRF	ground reaction forces
GRS	Global Reference System
KRS	Shank Reference System
iRPF	instrumented running prosthetic foot
IMU	inertial motion unit
LRS	Pylon Reference System
RMSE	root mean square error
RPF	running prosthetic feet
RSP	running specific prostheses
SRS	Socket Reference System
TRS	Thigh Reference System