Fig. 1

Lower limb power. Average time-series of power (Wkg⁻¹) during stance phase (n = 12) were computed for each stiffness (light blue = SOFT to dark blue = RIGID) and speed (solid line = customary speed, dotted line = fast speed). Sub-phases (collision, rebound, preload, and push-off) are divided by gray panels and determined when total limb power crosses zero. Prosthesis limb power is on the left column and sound limb power is on the right column. Total limb power (A) is the sum of the powers at the hip (B), knee (C), and prosthesis or distal-to-shank (D)