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We developed a control framework for an ankle-powered prosthesis that is based on a neuromusculoskeletal model driven by muscle synergies, aimed at mimicking human motor control strategies during cyclic movements.Refer to recent publication for more details on the research goals and methodology [1]. The personalized muscle synergy model computes muscle excitations at each timestamp of every trial using sensory information: gait phase was calculated using real-time ground reaction forces information, speed information was measured from the instrumented treadmill.In this study, both the gait