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Passive ankle and hindfoot kinematics within a robot-driven tibial movement envelope
Anthony H Le1, Andrew C Peterson2, Jordy A Larrea Rodríguez3
1Department of Biomedical Engineering, University of Utah, 36 S Wasatch Drive, Salt Lake City, UT 84112, USA.
Journal of Biomechanics
|May 7, 2025
Summary
This study quantified passive foot and ankle joint motion using robotic simulation. Hindfoot joints adapt significantly to tibial movements, crucial for foot and ankle stability.
Area of Science:
- Biomechanics
- Orthopedics
- Human Anatomy
Background:
- Understanding foot and ankle joint function requires accurate bone kinematics.
- Quantifying passive foot and ankle adaptability remains a challenge.
Purpose of the Study:
- To systematically describe passive kinematics and range of motion (ROM) of ankle and hindfoot joints.
- To investigate joint responses to prescribed tibial motions and underfoot perturbations.
Main Methods:
- Utilized five fresh-frozen lower limb cadaveric specimens.
- Employed a 6-axis industrial robot to apply controlled tibial motions (dorsi/plantarflexion, rotation, varus/valgus) under 25% body weight load.
- Calculated kinematics for tibiotalar, talofibular, tibiofibular, subtalar, talonavicular, and calcaneocuboid joints using anatomical coordinate systems.
Main Results:
- Significant passive adaptive kinematic changes were observed in hindfoot joints during dorsi/plantarflexion and external/internal rotation.
- Hindfoot kinematics showed functional shifts with different underfoot perturbations, while ROM remained consistent.
- Minimal passive adaptive motion occurred in hindfoot joints during varus/valgus tibial alignment.
Conclusions:
- Hindfoot joints play a significant role in the passive mobility and stability of the foot and ankle.
- Accurate measurement of individual bone kinematics is vital for understanding foot and ankle biomechanics.
- The foot and ankle exhibit differential passive adaptability depending on the direction of tibial motion.
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