Figure 2.

Diagram of multiaxis robotic system configured for the ankle study [30]. The testing platform consisted of an upper gimbal assembly with two translational and one rotational axes along with a 6-axis load cell, a mounting block to rigidly affix the specimen to the RTP, a pulley system to apply a static load to the AT, and an X-Y table with a second 6-axis load cell to aid in the mounting procedure. The coordinate system is shown by x-axis, y-axis, and z-axis. Translational and rotational vectors of the controlled axes of the RTP are also shown.