BADGER Lab grad Evan Glanzer, M.S. ’18 published a paper on the design, control and validation of a prosthetic foot with real-time control of its forefoot stiffness (Stub and Abstract). This design is part of the BADGER Lab theme of Semi-Active Prostheses (see our Research page).
The paper is published in IEEE Transactions on Neural Systems and Rehabilitation Engineering: Design and Validation of a Semi-Active Variable Stiffness Foot Prosthesis.