## 3 Results
### Results from the Human Subjects Testing
#### 3.2.2. Sagittal Plane Kinematics  
Both the ankle rotations in the sagittal and frontal planes were calculated exploiting the positions and displacements of the markers. The rotations of the foot shown in Figure 11 were calculated as the difference between the ankle angle during the gait cycle and the ankle angle in the exact moment of the heel strike. This calculation was done in such a way that at the beginning of the gait cycle the rotation was 0\({}^{\circ}\). For each cycle, the plantar flexion at toe strike corresponded to the minimum value of the rotation of the ankle during the early stance, while the dorsiflexion at heel-off corresponded to the maximum value of the rotation of the ankle during the midstance. For each leg, the mean values and the standard deviations of the plantarflexion at toe strike and the dorsiflexion at heel-off were calculated from 50 gait cycles. These parameters with their mean values and standard deviations are reported in the first sections of Table 5 (\"hlPlantarflexion at Toe Strike\") and Table 6 (hl\"Dorsiflexion at Heel-Off\"). To compare the plantarflexion at toe strike and the dorsiflexion at heel-off measured and calculated from the healthy foot and the prosthetic foot, the procedure illustrated in Figure 12a was followed and the results are reported in the second section of Table 5 (\"Prosthetic Leg Plantarflexion-Healthy Leg Plantarflexion\") and second section of Table 6 (\"Prosthetic Leg Dorsiflexion-Healthy Leg Dorsiflexion\"). To compare the plantarflexion at toe strike and the dorsiflexion at heel-off measured and calculated while the participants were using their prosthesis and using MyFlex-\(\delta\), the procedure illustrated in Figure 12b was followed, and the results are reported in the third section of Table 5 (\"Plantarflexion Using MyFlex-\(\delta\)-Plantarflexion Using their Own Prosthesis\"). Figure 11: The ankle dorsiflexion(+) and plantarflexion(\(-\)) during gait cycle of (**a**) Participant 1, (**b**) Participant 2 and (**c**) Participant 3: healthy leg, using their own prosthesis (dark red straight line); healthy leg, using MyFlex-\(\delta\) (dark green straight line); prosthetic leg, using their own prosthesis (light red dashed line); prosthetic leg, using MyFlex-\(\delta\) (light green dashed line). \begin{table}
\begin{tabular}{c c c c c c c} \hline \hline  & \multicolumn{2}{c}{**Participant 1**} & \multicolumn{2}{c}{**Participant 2**} & \multicolumn{2}{c}{**Participant 3**} \\ \hline \multicolumn{6}{c}{Dorsiflexion at Heel-Off} \\ \hline Leg and prosthesis used & mean & std & mean & std & mean & std \\ \hline Healthy leg, own prosthesis & \(-0.8^{\circ}\) & \(1.7^{\circ}\) & \(5.0^{\circ}\) & \(1.8^{\circ}\) & \(-1.8^{\circ}\) & \(2.9^{\circ}\) \\ Healthy leg, MyLeg prosthesis & \(4.7^{\circ}\) & \(1.4^{\circ}\) & \(4.6^{\circ}\) & \(1.9^{\circ}\) & \(-3.7^{\circ}\) & \(2.0^{\circ}\) \\ Prosthetic leg, own prosthesis & \(10.2^{\circ}\) & \(0.4^{\circ}\) & \(6.9^{\circ}\) & \(0.2^{\circ}\) & \(8.3\) & \(0.8^{\circ}\) \\ Prosthetic leg, MyLeg prosthesis & \(11.9^{\circ}\) & \(0.3^{\circ}\) & \(10.2^{\circ}\) & \(0.3^{\circ}\) & \(14.0^{\circ}\) & \(0.5^{\circ}\) \\ \hline \hline \end{tabular}
\end{table} 
Table 6: Dorsiflexion at heel-off. Mean values (mean) and standard deviations (std) are calculated from 50 gait cycles. Figure 12: Procedures for the calculation of: (**a**) the difference between the rotation measured from the prosthetic leg and the healthy leg; (**b**) the difference between the rotation measured while using MyFlex-\(\delta\) and while using their own prosthesis.