This paper describes the design and bench testing of a transtibial prosthesis with active transverse-plane control. The prosthesis allows direct control of transverse plane torque over the full physiological range. The design uses an active compliant actuator driven by an impedance controller using direct torque feedback. Testing demonstrated that the prosthesis is able to accurately measure and control transverse-plane torque, and can be configured to express a wide range of impedance behaviors.

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