Step-to-step ankle in/eversion torque control in a robotic ankle-foot prosthesis may reduce balance-related effort during walking

Individuals with below knee amputation exert more effort during walking than their able-bodied counterparts [1]. This increased effort may partially be due to increased balancerelated effort, especially while walking on challenging terrain [2]. Recently, we found that balance-related effort can be reduced by modulating ankle push-off work with a robotic ankle-foot prosthesis [3]. In doing so, we also realized the unexplored potential of other balance resources in robotic prostheses, such as active ankle in/eversion control.