Developing bionic ankles poses great challenges due to the large moment, power, and energy that are required at the ankle. Researchers have added springs in series with a motor to reduce the peak power and energy requirements of a robotic ankle. We developed a "robotic tendon" that reduces the peak power by altering the required motor speed. By changing the required speed, the spring acts as a "load variable transmission." If a simple motor/gearbox solution is used, one walking step would require 38.8J and a peak motor power of 257 W. Using an optimized robotic tendon, the energy required is 21.2 J and the peak motor power is reduced to 96.6 W. We show that adding a passive spring in parallel with the robotic tendon reduces peak loads but the power and energy increase. Adding a passive spring in series with the robotic tendon reduces the energy requirements. We have built a prosthetic ankle SPARKy, Spring Ankle with Regenerative Kinetics, that allows a user to walk forwards, backwards, ascend and descend stairs, walk up and down slopes as well as jog.