Normal function of the lower limb is enabled through the interplay of multiple muscle groups acting in concert. Ambulation is a remarkably orchestrated biomechanical process that is dependent upon a complex feedback loop involving the central and peripheral nervous systems and the musculoskeletal system. In their native state, the muscles of the lower extremity exist in a balanced agonist/antagonist milieu in which volitional activation of one muscle leads not only to its contracture, but also passive stretch of its opposite. Changes in muscle tension manifest through these changes lead to stimulation of specialized receptors within the muscle fibers that transmit joint position information to the cerebral cortex. Such feedback, in conjunction with cutaneous sensory information from skin mechanoreceptors, provides us with a sense of limb proprioception that ultimately enables high fidelity limb control, even in the absence of visual feedback.