*3.3. Trilateration Results*

In this section, we use the measurements from the sensors to compute trilateration, then we compare them with the simulation results. The foot and shank fit in the adjustable platform and support structure, respectively, as is shown in the initial procedure in Figure 13. By introducing the DWS lengths to the virtual model, we compute the A, B and C coordinates in four consecutive positions. In the Table 4 are the seven sensors lenghts, and in the Table 5, we show the A, B and C coordinates for the four positions. The resulting figures for the first two positions are in Figure 34a,b, and for the latest two positions in Figure 35a,b. We show the base triangles, the points, the sensors, the platform and the circles on the base.

**Table 4.** Sensor measurements in four different positions.


**Table 5.** A, B and C coordinates computed from the four positions.


**Figure 34.** First two trilateration results: (**a**) position 1, (**b**) position 2.

**Figure 35.** Latest two trilateration results: (**a**) position 3, (**b**) position 4.

#### *3.4. TC Axis Circle Fitting*

The results of circle fitting for trajectories A, B, and C are in Table 6, corresponding to ankle joint plantar/dorsiflexion movements. We show the circle fitting for trajectories A, B, C, and PM in the Figure 36a–d.

**Figure 36.** TC axis circle fitting: (**a**) trajectory A, (**b**) trajectory B, (**c**) trajectory C, (**d**) trajectory PM.


**Table 6.** TC axis circle fitting.

#### *3.5. ST Axis Circle Fitting*

The results of ST circle fitting for trajectories A, B, C, and PM are in Table 7, corresponding to ankle joint inversion movements. We show the circle fitting for trajectories A, B, C, and PM in the Figure 37a–d.

**Table 7.** ST axis circle fitting.


**Figure 37.** ST axis circle fitting: (**a**) trajectory A, (**b**) trajectory B, (**c**) trajectory C, (**d**) trajectory PM.
