Fig. 5

Residual hip power and work. Average power by the residual hip (n = 12) (A) and mechanical work were computed in the entire stance (B) and during each of the four sub-phases: collision (C), rebound (D), preload (E), and push-off (F). Entire stance (B), collision (C), and push-off (F) showed stiffness effects. Faster walking speed produced greater work in the entire stance phase (B) and most sub-phases (C–D, F). Overall, the prosthetic limb’s hip produced net positive work in the entire stance phase (B). Significant stiffness, speed, and interaction effects are denoted by ‘*’, ‘ + ’, and ‘x’ symbols, respectively