Embodments of the invention relate to a prosthetic, orthotic, or robotic foot having at least two joints. One joint is located in a position analogous to the human MTP joint, and the other is located in a position analogous to the human subtalar joint. Motions of these two joints are mechanically couples. Furthermore, these joints are created using "tensegrity" design principals, where connections between the compression members are made by a network of tension members. These tension members create axes of motion, and limitations on those axes of motion. Actuators or linear elastic "springs" are use to alter the torque/angular deflection response curve of these joints, so that the rollover profile of the human foot can be duplicated by this invention.

 
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