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Target template based on ankle malleolus and application of the compliant force field. The dashed line represents the target template based on the malleolus path and the black solid lines represent the walls of the virtual tunnel on either sides of the template. The solid black dot represents instantaneous malleolus position of the subject with the normal (Fn) and tangential (Ft) forces represented by the solid black arrows moving the subject’s ankle closer to the template.
