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The spatial gross motion of the foot with respect to the shank is modelled as rotations about two fixed ankle axes: the upper ankle rotation axis (plantar flexion/dorsiflexion) and the subtalar rotation axis (inversion/eversion). The positions of the axes are determined by externally visible bony landmarks of the lower leg, and are measured for a living subject. The model input data are the plantar flexion/dorsiflexion and inversion/eversion rotation angles; the model output is a 4 X 4 transformation matrix which quantitatively describes the relative position of a foot coordinate system with respect to a shank coordinate system.
Dul et al. (Mon,) studied this question.
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