Fig. 1

Experimental setup. (A) The force sensing resistors (FSRs) placed in the shoe of the ipsilateral side (able-bodied participants) or prosthesis side (participants with lower-limb amputation), and (B) the electrotactile device (16-pads electrode) placed on the mid-part of the thigh/residual limb, here displayed on a participant with a transfemoral amputation. The FSRs are used to trigger stimulations at specific moments of the gait cycle during the walking conditions, while the stimulation times during sitting conditions were predefined (see “Amplitude perception assessment” and “Spatial perception assessment” sections)