Fig. 3

(Top) Extrapolated center of mass (xCOM) relative to the prosthesis and intact heel marker positions averaged across all 11 participants. (Bottom) xCOM relative to the prosthesis and intact heel marker positions for TF02. On average, there is no discernable difference in balance between auto-tuned parameters without feedback and auto-tuned parameters with self-selected stance time feedback. However, for participant TF02 who had a noticeable increase in tuning time with feedback, the xCOM had greater medial–lateral movement and was closer to the bounds of the base of support