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. 2021 May 5;8(5):202020. doi: 10.1098/rsos.202020

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© 2021 The Authors.

Published by the Royal Society under the terms of the Creative Commons Attribution License http://creativecommons.org/licenses/by/4.0/, which permits unrestricted use, provided the original author and source are credited.

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Figure 5. — (a) In all case studies, participants walked on a treadmill in a universal emulator system that consisted of an ankle-foot prosthesis end-effector powered by off-board motors and controlled by a computer. (b) Each case study used one of two different ankle-foot prosthesis end-effectors: a 1 d.f. device or a 3 d.f. device.