Lower-extremity amputation surgery has not seen significant change since the Civil War. This research is focused on the development of novel amputation paradigms that leverage native biological end organs to interpret efferent motor commands and to provide meaningful neural feedback from an artificial limb. Surgical replication of natural agonist-antagonist muscle pairings within the residuum allow us to use biomimetic constructs to communicate joint state and torque from the prosthesis directly to the peripheral nervous system. We hypothesize that these architectures will facilitate control of advanced prosthetic systems to improve gait and reduce metabolic cost of transport.