1. Date of download: 9/18/2016 Copyright © ASME. All rights reserved. From: A New 3D Mechanism for Modeling the Passive Motion of the Tibia–Fibula–Ankle Complex J. Mechanisms Robotics. 2012;4(2):021004-021004-7. doi:10.1115/1.4005662 The four bones of the TFC complex. TT, HF, LM, and MM are the anatomical points for the definition of the tibia anatomical frame. Figure Legend:

2. Date of download: 9/18/2016 Copyright © ASME. All rights reserved. From: A New 3D Mechanism for Modeling the Passive Motion of the Tibia–Fibula–Ankle Complex J. Mechanisms Robotics. 2012;4(2):021004-021004-7. doi:10.1115/1.4005662 Schematic of the TFC complex Figure Legend:

3. Date of download: 9/18/2016 Copyright © ASME. All rights reserved. From: A New 3D Mechanism for Modeling the Passive Motion of the Tibia–Fibula–Ankle Complex J. Mechanisms Robotics. 2012;4(2):021004-021004-7. doi:10.1115/1.4005662 The equivalent mechanism of the TFC complex Figure Legend:

4. Date of download: 9/18/2016 Copyright © ASME. All rights reserved. From: A New 3D Mechanism for Modeling the Passive Motion of the Tibia–Fibula–Ankle Complex J. Mechanisms Robotics. 2012;4(2):021004-021004-7. doi:10.1115/1.4005662 Passive motion simulation of the talus/calcaneus respect to the tibia: x, (a), y, (b), and z, (c) versus ankle’s flexion angle γ Figure Legend:

5. Date of download: 9/18/2016 Copyright © ASME. All rights reserved. From: A New 3D Mechanism for Modeling the Passive Motion of the Tibia–Fibula–Ankle Complex J. Mechanisms Robotics. 2012;4(2):021004-021004-7. doi:10.1115/1.4005662 Passive motion simulation of the talus/calcaneus respect to the tibia: angles β, (a), and α, (b), versus ankle’s flexion angle γ Figure Legend:

6. Date of download: 9/18/2016 Copyright © ASME. All rights reserved. From: A New 3D Mechanism for Modeling the Passive Motion of the Tibia–Fibula–Ankle Complex J. Mechanisms Robotics. 2012;4(2):021004-021004-7. doi:10.1115/1.4005662 The anatomical points for the definition of the talus anatomical frame Figure Legend: