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Fig. 1 | Journal of NeuroEngineering and Rehabilitation

Fig. 1

From: Amputee perception of prosthetic ankle stiffness during locomotion

Fig. 1

a Modified version of the VSPA Foot [14]. As the slider is actively repositioned towards the cam, the stiffness increases (orange arrows). The cam was designed to create constant stiffness (a linear torque-angle relationship). b Experimental characterization of select torque vs. angle curves across the range of slider positions. c Ankle stiffness, defined as a function of slider position with a cubic fit. Dorsiflexion stiffness (filled line) is considered the nominal stiffness for this study

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