a. Description: 
The video demonstrates the capability of the powered tethered prosthetic device in level walking on a treadmill at a speed of 0.675 m/s (1.5 mph) with starting and stopping utilizizing the finite-state impedance based controller outlined in the paper.

b. Player Information: 
Video is a Windows Media File and was played successfully on Windows Media Player 11.


c. Contact Information: 
The authors are with the Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235 USA (e-mail: {frank.c.sup,amit.bohara,michael.goldfarb}@vanderbilt.edu)


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