A programmable prosthetic foot includes a heel member simulating a heel portion of a human foot. The heel member has an elongated heel member shaft extending in a vertical direction. The foot also includes a forefoot member simulating a forefoot portion of a human foot. The forefoot member has an elongated forefoot member shaft extending in the vertical direction. A sensor on the foot detects compressive force on the heel member shaft and/or forefoot member shaft during a step. An actuator on the foot imparts vertical translation to the heel member shaft and/or forefoot member shaft. An electronic controller in operable communication with the actuator includes program instructions for operating the actuator by imparting the vertical translation to the heel member shaft and/or forefoot member shaft as a function of the compressive force detected by the sensor.
