Instrumented prosthetic foot

The present application discloses an instrument prosthetic foot (20) for use with an actuated leg prothesis (14) controlled by a controller, the instrumented prosthetic foot (20) comprising a connector to connect the instrumented prosthetic foot (20) to the leg prothesis (14), an ankle structure connected to the connector, a ground engaging member connected to the ankle, at least one sensor (22a, 22b, 24a, 24b, 26) for detecting changes in weight distribution along the foot, and an interface for transmitting signals from the sensor to the controller.