# A Compact, Lightweight Robotic Ankle-Foot Prosthesis: Featuring a Powered Polycentric Design

> Research article (IEEE Robotics & Automation Magazine, 2020) · cited 66× · AI/ML

**Wikidata**: [openalex:W3001002409](https://www.wikidata.org/wiki/openalex:W3001002409)  
**Source**: https://4ort.xyz/entity/a-compact-lightweight-robotic-ankle-foot-prosthesis-featuring-a-powered-polycentric-design