#$%^&*AU2010200238B220130801.pdf#####ABSTRACT An instrumented prosthetic foot is provided for use with an actuated leg prosthesis controlled by a controller. The prosthetic foot has an elongated body with a top part and a bottom part. An ankle structure is pivotally connected to the top part. A connector connects the prosthetic foot to the leg prosthesis. A first sensor is positioned on the ankle structure about its pivot axis with the elongated body to measure the rotation of the ankle structure about its pivot axis. A second sensor is interposed between the connector and the ankle structure to measure the pressure force on the connector. The connector is mounted to the elongated body top part via the second sensor. The instrumented prosthetic foot may be used in conjunction with a controller for receiving data from the first sensor relating to the position of the ankle structure about its pivot axis, and data from the second sensor relating to the pressure force on the connector, and for determining the torque between the elongated body top part and the connector using the received data.1/14 'S16 FIG I
