“…In the past years, different foot models for gait kinematics and dynamics studies have been introduced in the literature [6,12,18,20,23,25,27,30,31]. In most of these human gait analyses, ankle joint has been modelled based on a revolute joint [15,19,27], two revolute joints with non-orthogonal axes of rotations [7,9,24], or a spherical joint [26,30,31].…”