It is known that force exchanges between a robotic assistive device and the end-user have a direct impact on the quality and performance of a particular movement task. This knowledge finds a special reflective importance in prosthetic industry due to the close human-robot collaboration. Although lower-extremity prostheses are currently better able to provide assistance as their upper-extremity counterparts, specific locomotion problems still remain. In a framework of this contribution the authors introduce the multibody dynamic modelling approach of the transtibial prosthesis wearing on a human body model. The obtained results are based on multibody dynamic simulations against the real experimental data using AMP-Foot 2.0, an energy efficient powered transtibial prosthesis for actively assisted walking of amputees. 1. Introduction A definition of the functionalities/duties between a human and a robotic device, also the organization of their interaction, basically, includes a number of different criteria that influence the effectiveness of the “human-robot” system. The hierarchy of criteria importance depends on a general approach in a certain domain application. Generally, the requirements in a robotic device design should assure the maximum economical effectiveness of the system in combination with a personal security of the end-user. Robots for physical assistance to humans are meant to reduce fatigue and stress, increase human capabilities in terms of force, speed, and precision, and improve in general the quality of life. In other words, the crucial goal of a robot for physical human-robot interactions (pHRI) is a generation of supplementary forces to overcome human physical limits. Moreover, the human can bring experience, global knowledge, and understanding for a correct execution of movements [1]. In case of assistive devices, an improved analysis of the problems related to the physical interaction with robots becomes mandatory. Also, in a special perspective for the interaction with humans should be considered the design of the mechanism, sensors selection, actuators, and control architecture [2]. Compared with healthy persons, walking amputees require 10–60% more metabolic energy depending on walking speed, physical individual properties, cause of amputation, amputation level, and prosthetic intervention characteristics. Furthermore, amputees walk at 11–40% slower self-selected gait speed than do persons with intact limbs [3, 4]. To date, commercially available prostheses comprise spring structures that store and release elastic energy
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