Commercial prosthetic limb development for transfemoral amputees has historically focused on legged locomotive function with energetically dissipative or conservative limbs. While such passive devices are effective at approximating the mechanics of the knee during level walking and stair/slope descent, the inability of these limbs to impose net positive power prevents amputees from executing a number of activities of daily living. Activities such as ascending slopes, ascending stairs, and jumping require net positive power outputs that are not fully realizable with current prosthetic leg technology [1–3]. While functionality has improved with microprocessor-based passive limbs [4], amputees continue to exhibit increased metabolic demands and non-anthropomorphic asymmetric gait [5].

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