Abstract: The ankle prosthesis of the present disclosure includes a load directing mechanism that alters the internal load path during weight bearing, guiding the load directly into the structural frame. By changing the load path with the load directing mechanism, both vertical and horizontal loads can be supported directly by the ankle's structure through a cam roller.

Abstract: An assistive device is disclosed that includes a plurality of control systems for controlling active and passive tasks. The assistive device accommodates active power generation when needed, but is otherwise configured to switch to passive control for other tasks. The assistive device further includes a continuously variable transmission to optimize movement of the assistive device for a variety of tasks. The assistive device includes a lower limb embodiment defining an artificial knee joint controlled by the plurality of control systems.