Customized Passive Prosthetic Feet

Methods of fabricating a compliant prosthetic foot are provided. A method includes optimizing a set of determinants defining a shape of a compliant prosthetic foot. The shape comprises a keel curve, a heel curve, and a forefoot curve, each of the heel curve and the forefoot 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. The optimizing includes minimizing a lower leg trajectory error associated with the set of determinants relative to a target kinematic data set. The method further includes fabricating the compliant prosthetic foot in conformance with the optimized set of determinants.