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The prosthesis user rarely has an opportunity to provide experiential input into the decision by trying different feet. A prosthetic foot emulator (PFE) is a robotic prosthetic foot that could facilitate prosthesis users' ability to trial feet with different mechanical characteristics. Here, we introduce a procedure by which a robotic PFE is configured to emulate the sagittal plane effective ankle stiffness of a range of commercial prosthetic forefeet. Mechanical testing was used to collect data on five types of commercial prosthetic feet across a range of foot sizes and intended user body weights. Emulated forefoot profiles were parameterized using Bezier curve fitting on ankle torque-angle data. Mechanical testing was repeated with the PFE, across a subset of emulated foot conditions, to assess the accuracy of the emulation. Linear mixed-effects regression and Bland\u2013Altman Limits of Agreement analyses were used to compare emulated and commercial ankle torque-angle data. Effective ankle stiffness of the emulated feet was significantly associated with the corresponding commercial prosthetic feet (p\u2009&amp;lt;0.001). On average, the emulated forefeet reproduced the effective ankle stiffness of corresponding commercial feet within 1%. Furthermore, differences were independent of prosthetic foot type, foot size, or user body weight. These findings suggest that commercial prosthetic foot properties can be effectively mimicked by a PFE, which is the important first step toward enabling prosthesis users to quickly trial different feet using a PFE as part of prosthetic foot prescription.<\/jats:p>","DOI":"10.1115\/1.4054834","type":"journal-article","created":{"date-parts":[[2022,6,20]],"date-time":"2022-06-20T09:49:44Z","timestamp":1655718584000},"update-policy":"https:\/\/doi.org\/10.1115\/crossmarkpolicy-asme","source":"Crossref","is-referenced-by-count":7,"title":["Emulating the Effective Ankle Stiffness of Commercial Prosthetic Feet Using a Robotic Prosthetic Foot Emulator"],"prefix":"10.1115","volume":"144","author":[{"given":"Elizabeth G.","family":"Halsne","sequence":"first","affiliation":[{"name":"Center for Limb Loss and Mobility, VA Puget Sound Health Care System , 1660 South Columbian Way (MS 151), Seattle, WA 98108 ; , 1959 NE Pacific Street, Box 356490, Seattle, WA 98195"},{"name":"Department of Rehabilitation Medicine, University of Washington , 1660 South Columbian Way (MS 151), Seattle, WA 98108 ; , 1959 NE Pacific Street, Box 356490, Seattle, WA 98195"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Carl S.","family":"Curran","sequence":"additional","affiliation":[{"name":"Human Motion Technologies LLC d\/b\/a Humotech , 630 William Pitt Way U-PARC, Building A2, Pittsburgh, PA 15238"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Joshua M.","family":"Caputo","sequence":"additional","affiliation":[{"name":"Human Motion Technologies LLC d\/b\/a Humotech , 630 William Pitt Way U-PARC, Building A2, Pittsburgh, PA 15238"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Andrew H.","family":"Hansen","sequence":"additional","affiliation":[{"name":"Minneapolis Adaptive Design & Engineering (MADE) Program, Minneapolis VA Health Care System , 1 Veterans Drive (MS 151), Minneapolis, MN 55417 ; , 420 Delaware Street SE, Minneapolis, MN 55455"},{"name":"Departments of Rehabilitation Medicine & Biomedical Engineering, University of Minnesota, Rehabilitation Science Program, MMC 388 , 1 Veterans Drive (MS 151), Minneapolis, MN 55417 ; , 420 Delaware Street SE, Minneapolis, MN 55455"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Brian J.","family":"Hafner","sequence":"additional","affiliation":[{"name":"Department of Rehabilitation Medicine, University of Washington , 1959 NE Pacific Street, Box 356490, Seattle, WA 98195"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"David C.","family":"Morgenroth","sequence":"additional","affiliation":[{"name":"Center for Limb Loss and Mobility, VA Puget Sound Health Care System , 1660 South Columbian Way (MS 151), Seattle, WA 98108 ; , 1959 NE Pacific Street, Box 356490, Seattle, WA 98195"},{"name":"Department of Rehabilitation Medicine, University of Washington , 1660 South Columbian Way (MS 151), Seattle, WA 98108 ; , 1959 NE Pacific Street, Box 356490, Seattle, WA 98195"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"33","published-online":{"date-parts":[[2022,7,18]]},"reference":[{"issue":"4","key":"2023071800044995700_bib1","first-page":"175","article-title":"Prosthetic Foot Selection for Individuals With Lower-Limb Amputation: A Clinical Practice Guideline","volume":"30","year":"2018","journal-title":"JPO"},{"issue":"4","key":"2023071800044995700_bib2","first-page":"S35","article-title":"Research and Clinical Selection of Foot-Ankle Systems","volume":"17","year":"2005","journal-title":"JPO"},{"issue":"1","key":"2023071800044995700_bib3","doi-asserted-by":"crossref","first-page":"146","DOI":"10.1016\/j.jbiomech.2014.10.002","article-title":"Biomechanical Characteristics, Patient Preference and Activity Level With Different Prosthetic Feet: A Randomized Double Blind Trial With Laboratory and Community Testing","volume":"48","year":"2015","journal-title":"J. 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