Abstract: Prosthetic foot is provided having at least one flexible sole element that is deflected under load during a gait cycle of a user of the foot and a plurality of constraining elements that constrain deflection of the at least one flexible sole element such that it assumes an appropriate roll-over shape during a gait cycle of the user. The constraining elements dictate the roll-over shape assumed by the flexible sole element, while the at least one flexible sole element stores and returns energy during the gait cycle of the user to promote a natural “feel” to the foot.