Fig. 5

Inter-participant average knee and ankle kinematics and kinetics (prosthetic side) during the rapid repeated sit/stand test produced in the prescribed passive condition (PRES), the phase-based controller condition (HKIC), and the default controller condition (ÖSSR). Able-bodied trajectories (AB) from [31] are shown as well for reference. Shaded regions represent \(\pm 1\) standard deviation