2 DOF PROSTHESIS ANKLE TESTBED
At Carnegie Mellon University while I was doing my Master's degree, other than taking classes and doing homework, I jointed Prof.Collins lab and built a 2 DOF prosthesis ankle testbed. The tethered prosthesis has two independently-actuated toes. The sum of the two toe torques equals to the total plantarflexion torque. And the difference of them contributes to the inversion/eversion torque.
The prosthesis is actuated, via two bowden cables, by two powerful motors, and thus can simulate all kinds of ankle dynamics.