In this paper we explore the mechanical behavior of the ankle in the progression stage of stance during normal walking. We show that the torque/angle behavior of the ankle during this stage can be approximated by an augmented linear torsional spring. The mechanical parameters completely specifying this spring are identified, including stiffness, amount of rotation, and angle of zero moment. The effect of load weight, gait speed and ground slope on those parameters and the propulsive work of the ankle are also discussed. The findings of this paper can be applied to the design of leg orthoses, prostheses and exoskeletons, and bipedal robots in general, allowing the implementation of human-like leg compliance during stance with a relatively simple latchedspring mechanism.

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