A better understanding of the biomechanics of human tissue allows for better attachment of load-bearing objects to people. Think of shoes, ski boots, car seats, orthotics, and more. We are focusing on prosthetic sockets, the cup-shaped devices that attach an amputated limb to a lower-limb prosthesis, which currently are made through unscientific, artisanal methods that do not have repeatable quality and comfort from one individual to the next. The FitSocket project aims to identify the correlation between leg tissue properties and the design of a comfortable socket. The FitSocket is a robotic socket measurement device that directly measures tissue properties. With these data, we can rapid-prototype test sockets and socket molds in order to make rigid, spatially variable stiffness, and spatially/temporally variable stiffness sockets.