The human ankle provides people the ability to walk, run, and assists in a multitude of tasks requiring stability. The goal of this project is to gather and analyze data from subjects with healthy ankles. This will be done by using a visual sinusoidal reference signal then measuring the ankle torque generated from the subject when an attempt to match the reference signal is made. That data can then be used to form mathematical models, also known as transfer functions. Those transfer functions can then possibly be used to form more advanced lower limb prosthetics.