Customized compliant prosthetic feet

A method of fabricating a compliant prosthetic foot, comprising:

• optimizing a set of determinants defining a shape of a compliant prosthetic foot, the shape being a two-dimensional shape defined by at least one parametric curve, the optimizing including minimizing a lower leg trajectory error associated with the set of determinants relative to a target kinematic data set;
• generating a three-dimensional shape of the compliant prosthetic foot based on the optimized set of determinants, the three-dimensional shape defined at least in part by a set of three-dimensional elements of varying widths;
• and
• fabricating the compliant prosthetic foot in conformance with the generated three-dimensional shape.

A compliant prosthetic foot comprising:

• a keel;
• a heel;
• and
• a forefoot, the heel and the forefoot shaped according to a parametric curve at least partially defined as an offset curve with respect to a representation of an arched ground-facing surface of the compliant prosthetic foot.