In light of the functional disparities of the intact leg relative to a residual leg with a prosthesis, asymmetries of the gait cycle can develop. A primary decrement to the residual limb with a prosthesis is the inability to generate powered plantar flexion during the stance phase of gait. Asymmetries in the context of ground reaction force profiles have been demonstrated. Compensatory mechanisms can arise, such as amplified work produced about the hip joint of the residual limb. These non-optimal gait patterns can lead to the development of chronic degenerative morbidities, such as osteoporosis, osteoarthritis, scoliosis, and atrophy. People with transtibial amputation can experience amplified metabolic cost during gait, which can lead to reduced optimal gait speed. Another source of discomfort involves the quality of the interface between the socket and the residual limb. Displacement between the socket and residual limb is known as pistoning. These subjects of gait asymmetry and discomfort warrant attention for the development of high-quality prosthetic systems.