Here is a robotic solution that makes it easier for amputees to try prosthetic limbs to find the perfect fit for them. The HuMoTech Prosthesis Emulator is lightweight and can be worn both by amputees and non-amputees (using simulator boot and lift shoe). It can accommodate users up to 250lb.
As TechCrunch explains, this system offers patients the chance to test different systems to make better decisions. These videos show the Prosthesis Emulator in action.