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A prosthetic sock for a patient to wear over a residual limb is provided. The prosthetic sock includes an inner layer configured to fit over at least a portion of the residual limb of the patient. A foam layer is disposed on an outer surface of the inner layer. The foam layer compensates for changes in shape or volume of the residual limb within the prosthetic sock by changing shape in a manner effective to maintain a secure fit between the residual limb and a prosthetic socket of a prosthetic limb.