Fig. 4

Short-term therapeutic benefits of passive, quasi-passive and active ankle–foot prostheses in people with a unilateral transtibial and transfemoral amputation. The arrows indicate the effect of switching from one type of prosthesis to another. For example, switching from passive non-ESR to quasi-passive prostheses entails positive effects on biomechanics, performance and RPE. ESR: energy-storing and release; RPE: rating of perceived exertion; ?: currently unknown, to be investigated; *effect based on studies only including people with a transtibial amputation