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.