For most healthy bipeds, the act of walking is seldom given a second thought: One foot follows the other, and the rest of the body falls in line, supported by a system of muscle, tendon, and bones. Upon closer inspection, however, locomotion is less straightforward. In particular, the ankle -- the crucial juncture between the leg and the foot -- is an anatomical jumble, and its role in maintaining stability and motion has not been well characterized.
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