Effect of Trunk Sagittal Attitude on Shoulder,Thorax and Pelvis Three-Dimensional Kinematics in Able-Bodied Subjects during Gait

It has been shown that an original attitude in forward or backward inclination of the trunk is maintained at gait initiation and during locomotion, and that this affects lower limb loading patterns. However, no studies have shown the extent to which shoulder, thorax and pelvis three-dimensional kinematics are modified during gait due to this sagittal inclination attitude. Thirty young healthy volunteers were analyzed during level walking with video-based motion analysis. Reflecting markers were mounted on anatomical landmarks to form a two-marker shoulder line segment, and a four-marker thorax and pelvis segments. Absolute and relative spatial rotations were calculated, for a total of 11 degrees of freedom. The subjects were divided into two groups of 15 according to the median of mean thorax inclination angle over the gait cycle. Preliminary MANOVA analysis assessed whether gender was an independent variable. Then two-factor nested ANOVA was used to test the possible effect of thorax inclination on body segments, planes of motion and gait periods, separately. There was no significant difference in all anthropometric and spatio-temporal parameters between the two groups, except for subject mass. The three-dimensional kinematics of the thorax and pelvis were not affected by gender. Nested ANOVA revealed group effect in all segment rotations apart those at the pelvis, in the sagittal and frontal planes, and at the push-off. Attitudes in sagittal thorax inclination altered trunk segments kinematics during gait. Subjects with a backward thorax showed less thorax-to-pelvis motion, but more shoulder-to-thorax and thorax-to-laboratory motion, less motion in flexion/extension and in lateral bending, and also less motion during push-off. This contributes to the understanding of forward propulsion and sideways load transfer mechanisms, fundamental for the maintenance of balance and the risk of falling.     

Analysis of the Biotribological Behavior for the Stainless Steel/Polyethylene Contact Using a Knee Prosthesis Simulator

In this work,a friction and wear simulator was used to reproduce the Anterior-Posterior (AP) sliding and the Flexion-Extension (FE) rotation generated in the knee joint during human gait cycle.We chose to simplify the contact geometry between the Total Knee Arthroplasty (TKA) femoral component and tibial insert.A 304L stainless steel cylinder which replaces the femoral component was loaded onto a flat High Density Polyethylene (HDPE) block which replaces the tibial insert.The tribological behavior of the considered contact was analyzed by tracking the number of cycles,the friction coefficient,the roughness of the wear track on HDPE,the HDPE weight loss and the damage mechanisms.The friction coefficient shows a gradual increase with the number of cycles for both AP and FE kinematics.The evolution of friction coefficient with the number of cycles is not affected by the value of the imposed normal load in the case of AP sliding.For the FE rotation,decreased friction coefficient is obtained when the imposed normal load increases.For both considered AP and FE kinematics,the roughness of the wear track on the HDPE is not affected by the imposed normal load.It shows a progressive decrease when the number of cycles increases.The wear of HDPE obeys the Archard law and the wear coefficient increases with the normal force.For a given value of normal load,the obtained wear coefficient for the AP sliding is larger than that obtained for FE rotation.A predominant adhesive wear mechanism was identified for both AP and FE kinematics.Under the same normal load,damage development in terms of plastic deformation,micro-cracking and debonding is more pronounced for the AP sliding if compared with the FE rotation.For a given kinematics,the damage severity increases with the normal load.This finding is in good agreement with the predicted values of the wear coefficient according to the Archard law.     

Three-dimensional modeling of in vitro hip kinematics under micro-separation regime for ceramic on ceramic total hip prosthesis: An analysis of vibration and noise

Micro-separation corresponds to a medial–lateral hip laxity after total hip replacement (THR). This laxity has been shown to generate higher wear rates and a specific pattern of stripe wear caused by edge loading of the head on the rim of the cup. Recently some authors have implicated edge loading as a source of noise generation and in particular squeaking. The goal of this study was to model hip kinematics under the micro-separation regime in a computational simulation of total hip prosthesis including joint laxity and to analyze the vibration frequencies and the potential for noise generation. A three-dimensional computer model of the Leeds II hip simulator was developed using ADAMS^® software, simulating a controlled micro-separation during the swing phase of the walking cycle and replicating the experimental conditions previously reported.There was an excellent correlation between the theoretical values and the experimental values of the medial–lateral separation during the walking cycle. Vibratory frequencies were in the audible zone but were lower in magnitude than those reported clinically in relation to squeaking. Micro-separation and rim loading may explain the generation of some sounds from noisy hips after THR. However, the computational model, and the experimental model of micro-separation were unable to replicate the higher frequency squeaking reported clinically. In contrast, other experimental studies involving normal kinematics in combination with third-body particles have replicated clinically relevant frequencies and noises.     

Retinal optic flow during natural locomotion

We examine the structure of the visual motion projected on the retina during natural locomotion in real world environments. Bipedal gait generates a complex, rhythmic pattern of head translation and rotation in space, so without gaze stabilization mechanisms such as the vestibular-ocular-reflex (VOR) a walker’s visually specified heading would vary dramatically throughout the gait cycle. The act of fixation on stable points in the environment nulls image motion at the fovea, resulting in stable patterns of outflow on the retinae centered on the point of fixation. These outflowing patterns retain a higher order structure that is informative about the stabilized trajectory of the eye through space. We measure this structure by applying the curl and divergence operations on the retinal flow velocity vector fields and found features that may be valuable for the control of locomotion. In particular, the sign and magnitude of foveal curl in retinal flow specifies the body’s trajectory relative to the gaze point, while the point of maximum divergence in the retinal flow field specifies the walker’s instantaneous overground velocity/momentum vector in retinotopic coordinates. Assuming that walkers can determine the body position relative to gaze direction, these time-varying retinotopic cues for the body’s momentum could provide a visual control signal for locomotion over complex terrain. In contrast, the temporal variation of the eye-movement-free, head-centered flow fields is large enough to be problematic for use in steering towards a goal. Consideration of optic flow in the context of real-world locomotion therefore suggests a re-evaluation of the role of optic flow in the control of action during natural behavior.     

Tibiofemoral kinematics and condylar motion during the stance phase of gait

Accurate knowledge of the dynamic knee motion in-vivo is instrumental for understanding normal and pathological function of the knee joint. However, interpreting motion of the knee joint during gait in other than the sagittal plane remains controversial. In this study, we utilized the dual fluoroscopic imaging technique to investigate the six-degree-of-freedom kinematics and condylar motion of the knee during the stance phase of treadmill gait in eight healthy volunteers at a speed of 0.67 m/s. We hypothesized that the 6DOF knee kinematics measured during gait will be different from those reported for non-weightbearing activities, especially with regards to the phenomenon of femoral rollback. In addition, we hypothesized that motion of the medial femoral condyle in the transverse plane is greater than that of the lateral femoral condyle during the stance phase of treadmill gait. The rotational motion and the anterior–posterior translation of the femur with respect to the tibia showed a clear relationship with the flexion–extension path of the knee during the stance phase. Additionally, we observed that the phenomenon of femoral rollback was reversed, with the femur noted to move posteriorly with extension and anteriorly with flexion. Furthermore, we noted that motion of the medial femoral condyle in the transverse plane was greater than that of the lateral femoral condyle during the stance phase of gait (17.4±2.0 mm vs. 7.4±6.1 mm, respectively; p<0.01). The trend was opposite to what has been observed during non-weightbearing flexion or single-leg lunge in previous studies. These data provide baseline knowledge for the understanding of normal physiology and for the analysis of pathological function of the knee joint during walking. These findings further demonstrate that knee kinematics is activity-dependent and motion patterns of one activity (non-weightbearing flexion or lunge) cannot be generalized to interpret a different one (gait).     

Scapular kinematics during unloaded and maximal loaded isokinetic concentric and eccentric shoulder flexion and extension movements

Characterization of scapular kinematics under demanding load conditions might aid to distinguish between physiological and clinically relevant alterations. Previous investigations focused only on submaximal external load situations. How scapular movement changes with maximal load remains unclear. Therefore, the present study aimed to evaluate 3D scapular kinematics during unloaded and maximal loaded shoulder flexion and extension. Twelve asymptomatic individuals performed shoulder flexion and extension movements under unloaded and maximal concentric and eccentric loaded isokinetic conditions. 3D scapular kinematics assessed with a motion capture system was analyzed for 20° intervals of humeral positions from 20° to 120° flexion. Repeated measures ANOVAs were used to evaluate kinematic differences between load conditions for scapular position angles, scapulohumeral rhythm and scapular motion extent. Increased scapular upward rotation was seen during shoulder flexion and extension as well as decreased posterior tilt and external rotation during eccentric and concentric arm descents of maximal loaded compared to unloaded conditions. Load effects were further seen for the scapulohumeral rhythm with greater scapular involvement at lower humeral positions and increased scapular motion extent under maximal loaded shoulder movements. With maximal load applied to the arm physiological scapular movement pattern are induced that may imply both impingement sparing and causing mechanisms.     

The influence of component design, bearing clearance and axial load on the squeaking characteristics of ceramic hip articulations

Squeaking of hip replacements with ceramic-on-ceramic bearings has put the use of this material into question despite its superior wear behavior. Squeaking has been related to implant design. The purpose of this study was to determine the influence of particular acetabular cup and femoral stem designs on the incidence of squeaking and its characteristics. The dynamic behavior of the stem, head and stem assembled with head was investigated by determining their eigenfrequencies using experimental and numerical modal analysis. Four different stem and three different cup designs were investigated. Operational system vibrations resulting in audible squeaking were reproduced in a hip simulator and related to the respective component eigenfrequencies. The applied joint load and bearing clearance were varied in the clinically relevant range. Stems with lower eigenfrequencies were related to lower squeaking frequencies and increased acoustic pressure (loudness), and therefore to a higher susceptibility to squeaking. Higher load increased the squeaking frequency, while the acoustic pressure remained unchanged. No influence of the clearance or the cup design was found. Stem design was found to have an important influence on squeaking characteristics and its incidence, confirming and explaining similar clinical observations. Cup design itself was found to have no major influence on the dynamic behavior of the system but plays an important indirect role in influencing the magnitude of friction: Squeaking only occurs if the friction in the joint articulation is sufficient to excite vibrations to audible magnitudes. If friction is low, no squeaking occurs with any of the designs investigated.     

The effect of kinematic and kinetic changes on meniscal strains during gait

The menisci play an important role in load distribution, load bearing, joint stability, lubrication, and proprioception. Partial meniscectomy has been shown to result in changes in the kinematics and kinetics at the knee during gait that can lead to progressive meniscal degeneration. This study examined changes in the strains within the menisci associated with kinematic and kinetic changes during the gait cycle. The gait changes considered were a 5 deg shift toward external rotation of the tibia with respect to the femur and an increased medial-lateral load ratio representing an increased adduction moment. A finite element model of the knee was developed and tested using a cadaveric specimen. The cadaver was placed in positions representing heel-strike and midstance of the normal gait, and magnetic resonance images were taken. Comparisons of the model predictions to boundaries digitized from images acquired in the loaded states were within the errors produced by a 1 pixel shift of either meniscus. The finite element model predicted that an increased adduction moment caused increased strains of both the anterior and posterior horns of the medial meniscus. The lateral meniscus exhibited much lower strains and had minimal changes under the various loading conditions. The external tibial rotational change resulted in a 20% decrease in the strains in the posterior medial horn and increased strains in the anterior medial horn. The results of this study suggest that the shift toward external tibial rotation seen clinically after partial medial meniscectomy is not likely to cause subsequent degenerative medial meniscal damage, but the consequence of this kinematic shift on the pathogenesis of osteoarthritis following meniscectomy requires further consideration.     

A reciprocal connection factor for assessing knee-joint function

In the knee joint, interactions between instantaneous kinetics and kinematics associated with ligamentous and articular tissues are not fully understood. These structures may be represented by the instantaneous screw axis ($) (ISA) and static force vectors ($′). Geometric changes to the joint structure affecting motion have not been fully explained, especially after surgical reconstruction and replacement procedures. The ISA offers a joint-characterisation approach, which is dependent on the combined forces of ligaments, articular contacts and muscles. The standard four-bar linkage model in the sagittal plane demonstrates that the normal contact force and the lines of action of the cruciate ligaments always intersect at the centre of rotation of the joint. A kinematic knee model in which the articular surfaces in the lateral and medial compartments as well as the isometric fascicles in the engaged ligaments may be represented as five constraints in a one-degree-of-freedom parallel spatial mechanism. This study provides a theoretical foundation to elucidate the role of each of these elements in the control of the ISA. A recourse to the principle of virtual work explained through d'Alembert's principle for reducing a dynamics problem to an instantaneous static scenario allows screws to be applied to the biomechanics of human motion. The principle of reciprocity links these approaches together to explain the transmitting load between the tibia and the femur as well as the relative motion within the knee joint. A principal clinical implication of this study is the introduction of the reciprocal connection factor to evaluate knee kinematics and kinetics in one simple term, allowing the quantitative assessment of the outcome of knee-joint treatment and rehabilitation methods.     

A reciprocal connection factor for assessing knee-joint function

In the knee joint, interactions between instantaneous kinetics and kinematics associated with ligamentous and articular tissues are not fully understood. These structures may be represented by the instantaneous screw axis ($) (ISA) and static force vectors ($'). Geometric changes to the joint structure affecting motion have not been fully explained, especially after surgical reconstruction and replacement procedures. The ISA offers a joint-characterisation approach, which is dependent on the combined forces of ligaments, articular contacts and muscles. The standard four-bar linkage model in the sagittal plane demonstrates that the normal contact force and the lines of action of the cruciate ligaments always intersect at the centre of rotation of the joint. A kinematic knee model in which the articular surfaces in the lateral and medial compartments as well as the isometric fascicles in the engaged ligaments may be represented as five constraints in a one-degree-of-freedom parallel spatial mechanism. This study provides a theoretical foundation to elucidate the role of each of these elements in the control of the ISA. A recourse to the principle of virtual work explained through d'Alembert's principle for reducing a dynamics problem to an instantaneous static scenario allows screws to be applied to the biomechanics of human motion. The principle of reciprocity links these approaches together to explain the transmitting load between the tibia and the femur as well as the relative motion within the knee joint. A principal clinical implication of this study is the introduction of the reciprocal connection factor to evaluate knee kinematics and kinetics in one simple term, allowing the quantitative assessment of the outcome of knee-joint treatment and rehabilitation methods.     

On the estimation of joint kinematics during gait.

In gait analysis, the concepts of Euler and helical (screw) angles are used to define the three-dimensional relative joint angular motion of lower extremities. Reliable estimation of joint angular motion depends on the accurate definition and construction of embedded axes within each body segment. In this paper, using sensitivity analysis, we quantify the effects of uncertainties in the definition and construction of embedded axes on the estimation of joint angular motion during gait. Using representative hip and knee motion data from normal subjects and cerebral palsy patients, the flexion-extension axis is analytically perturbed +/- 15 degrees in 5 degrees steps from a reference position, and the joint angles are recomputed for both Euler and helical angle definitions. For the Euler model, hip and knee flexion angles are relatively unaffected while the ab/adduction and rotation angles are significantly affected throughout the gait cycle. An error of 15 degrees in the definition of flexion-extension axis gives rise to maximum errors of 8 and 12 degrees for the ab/adduction angle, and 10-15 degrees for the rotation angles at the hip and knee, respectively. Furthermore, the magnitude of errors in ab/adduction and rotation angles are a function of the flexion angle. The errors for the ab/adduction angles increase with increasing flexion angle and for the rotation angle, decrease with increasing flexion angle. In cerebral palsy patients with flexed knee pattern of gait, this will result in distorted estimation of ab/adduction and rotation. For the helical model, similar results are obtained for the helical angle and associated direction cosines.(ABSTRACT TRUNCATED AT 250 WORDS)     

Friction in Total Hip Joint Prosthesis Measured In Vivo during Walking

Friction-induced moments and subsequent cup loosening can be the reason for total hip joint replacement failure. The aim of this study was to measure the in vivo contact forces and friction moments during walking. Instrumented hip implants with Al₂O₃ ceramic head and an XPE inlay were used. In vivo measurements were taken 3 months post operatively in 8 subjects. The coefficient of friction was calculated in 3D throughout the whole gait cycle, and average values of the friction-induced power dissipation in the joint were determined. On average, peak contact forces of 248% of the bodyweight and peak friction moments of 0.26% bodyweight times meter were determined. However, contact forces and friction moments varied greatly between individuals. The friction moment increased during the extension phase of the joint. The average coefficient of friction also increased during this period, from 0.04 (0.03 to 0.06) at contralateral toe off to 0.06 (0.04 to 0.08) at contralateral heel strike. During the flexion phase, the coefficient of friction increased further to 0.14 (0.09 to 0.23) at toe off. The average friction-induced power throughout the whole gait cycle was 2.3 W (1.4 W to 3.8 W). Although more parameters than only the synovia determine the friction, the wide ranges of friction coefficients and power dissipation indicate that the lubricating properties of synovia are individually very different. However, such differences may also exist in natural joints and may influence the progression of arthrosis. Furthermore, subjects with very high power dissipation may be at risk of thermally induced implant loosening. The large increase of the friction coefficient during each step could be caused by the synovia being squeezed out under load.     

Kinematic evaluation of cruciate-retaining total knee replacement patients during level walking: A comparison with the displacement-controlled ISO standard

Differences between wear-scar features of simulator-tested and retrieved tibial total knee replacement (TKR) liners have been reported. This disagreement may result from differences between in vivo kinematic profiles and those defined by the International Organization for Standardization (ISO). The purpose of this study was to determine the knee kinematics of a TKR subject group during level walking and compare them with the motion profiles defined by the ISO standard for a displacement-controlled knee wear testing simulator. Twenty-nine patients with a posterior cruciate ligament-retaining TKR design were gait tested using the point cluster technique to obtain flexion–extension (FE) rotation, anterior–posterior (AP) translation and internal–external (IE) rotation knee motions during a complete cycle of level walking. Relative ranges of motion and timing of key points within the in vivo motion data were compared against the same ranges and same key points from the input profiles of the displacement-controlled wear testing standard ISO14243-3. The subjects exhibited a FE pattern similar to ISO, with an insignificant difference in range of FE rotation from midstance to terminal stance. However, the subjects had a significantly higher range of knee flexion from terminal stance into swing. The subjects also exhibited a phase delay for the entire gait cycle. For AP translation, the standard profile had statistically significant lower magnitudes than seen in vivo. Opposite pattern of AP motion was also apparent from midstance and swing. Similarly, ISO specified a smaller IE total range of rotation with a motion pattern in complete opposition to that seen in vivo. In conclusion, significant differences were found in both the magnitudes and pattern of in vivo motion compared with ISO.     

In-vivo 6 degrees-of-freedom kinematics of metal-on-polyethylene total hip arthroplasty during gait

Knowledge of accurate in-vivo 6 degree-of-freedom (6-DOF) kinematics of total hip arthroplasty (THA) during daily activities is critical for improvement of longevity of the components. Previous studies assessed in-vivo THA kinematics using skin marker-based motion analysis. However, skin markers are prone to move with respect to the underlying bones. A non-invasive dual fluoroscopic imaging system (DFIS) based tracking technique has been used to avoid skin artifacts and provide accurate 6-DOF kinematic measurement. This study aimed to quantify in-vivo 6-DOF THA kinematics during gait using DFIS. Twenty eight well-functioning THAs were evaluated during treadmill gait under DFIS surveillance. The maximum translations of the femoral head were 0.46±0.10 mm and 0.45±0.10 mm during the stance and swing phases (p=0.57), respectively. The range of hip flexion was from 8.7° to 47.6°, adduction from 3.0° to 12.5° and external rotation from 19.2° to 29.7°. The THA was flexed, externally rotated and adducted throughout the gait. The magnitudes of the femoral head translations were found to be within the manufacture tolerance of the components, suggesting that in-vivo hip “pistoning” during gait cycle may be minimal in well-functioning THAs. The 6-DOF kinematics could be used as the baseline knowledge for further improvement of wear-testing of hip implant, implants manufacturing and implant positioning during surgery.     

In vivo kinematics and articular surface congruency of total ankle arthroplasty during gait

Relatively high rates of loosening and implant failure have been reported after total ankle arthroplasty. Abnormal kinematics and incongruency of the articular surface may cause increased contact pressure and rotational torque applied to the implant, leading to loosening and implant failure. We measured in vivo kinematics of two-component total ankle arthroplasty (TNK ankle), and assessed congruency of the articular surface during the stance phase of gait. Eighteen ankles of 15 patients with a mean age of 75±6 years (mean±standard deviation) and follow-up of 44±38 months were enrolled. Lateral fluoroscopic images were taken during the stance phase of gait. 3D-2D model-image registration was performed using the fluoroscopic image and the implant models, and three-dimensional kinematics of the implant and incongruency of the articular surface were determined. The mean ranges of motion were 11.1±4.6°, 0.8±0.4°, and 2.6±1.5° for dorsi-/plantarflexion, inversion/eversion, and internal/external rotation, respectively. At least one type of incongruency of the articular surface occurred in eight of 18 ankles, including anterior hinging in one ankle, medial or lateral lift off in four ankles, and excessive axial rotation in five ankles. Among the four ankles in which lift off occurred during gait, only one ankle showed lift off in the static weightbearing radiograph. Our observations will provide useful data against which kinematics of other implant designs, such as three-component total ankle arthroplasty, can be compared. Our results also showed that evaluation of lift off in the standard weightbearing radiograph may not predict its occurrence during gait.     

Interactions between kinematics and loading during walking for the normal and ACL deficient knee

The relationships between extrinsic forces acting at the knee and knee kinematics were examined with the purpose of identifying specific phases of the walking cycle that could cause abnormal kinematics in the anterior cruciate ligament (ACL) deficient knee. Intersegmental forces and moments in directions that would produce anterior-posterior (AP) translation, internal-external (IE) rotation and flexion-extension (FE) at the knee were compared with the respective translation and rotations of the tibia relative to the femur during four selected phases (heel strike, weight acceptance, terminal extension and swing) of the walking cycle. The kinematic changes associated with loss of the ACL occurred primarily during the terminal portion of swing phase of the walking cycle where, for the ACL deficient knee, the tibia had reduced external rotation and anterior translation as the knee extended prior to heel strike. The kinematic changes during swing phase were associated with a rotational offset relative to the contralateral knee in the average position of the tibia towards internal rotation. The offset was maintained through the entire gait cycle. The abnormal offsets in the rotational position were correlated with the magnitude of the flexion moment (balanced by a net quadriceps moment) during weight acceptance. These results suggest that adaptations to the patterns of muscle firing during walking can compensate for kinematic changes associated with the loss of the ACL. The altered rotational position would cause changes in tibiofemoral contact during walking that could cause the type of degenerative changes reported in the meniscus and the articular cartilage following ACL injury.     

Effect of varus/valgus malalignment on bone strains in the proximal tibia after TKR: an explicit finite element study

Malalignment is the main cause of tibial component loosening. Implants that migrate rapidly in the first two post-operative years are likely to present aseptic loosening. It has been suggested that cancellous bone stresses can be correlated with tibial component migration. A recent study has shown that patient-specific finite element (FE) models have the power to predict the short-term behavior of tibial trays. The stresses generated within the implanted tibia are dependent on the kinematics of the joint; however, previous studies have ignored the kinematics and only applied static loads. Using explicit FE, it is possible to simultaneously predict the kinematics and stresses during a gait cycle. The aim of this study was to examine the cancellous bone strains during the stance phase of the gait cycle, for varying degrees of varus/valgus eccentric loading using explicit FE. A patient-specific model of a proximal tibia was created from CT scan images, including heterogeneous bone properties. The proximal tibia was implanted with a commercial total knee replacement (TKR) model. The stance phase of gait was simulated and the applied loads and boundary conditions were based on those used for the Stanmore knee simulator. Eccentric loading was simulated. As well as examining the tibial bone strains (minimum and maximum principal strain), the kinematics of the bone-implant construct are also reported. The maximum anterior-posterior displacements and internal-external rotations were produced by the model with 20 mm offset. The peak minimum and maximum principal strain values increased as the load was shifted laterally, reaching a maximum magnitude for -20 mm offset. This suggests that when in varus, the load transferred to the bone is shifted medially, and as the bone supporting this load is stiffer, the resulting peak bone strains are lower than when the load is shifted laterally (valgus). For this particular patient, the TKR design analyzed produced the highest cancellous bone strains when in valgus. This study has provided an insight in the variations produced in bone strain distribution when the axial load is applied eccentrically. To the authors' knowledge, this is the first time that the bone strain distribution of a proximal implanted tibia has been examined, also accounting for the kinematics of the tibio-femoral joint as part of the simulation. This approach gives greater insight into the overall performance of TKR.     

A closed-loop cadaveric foot and ankle loading model

Investigations of human foot and ankle biomechanics rely chiefly on cadaver experiments. The application of proper force magnitudes to the cadaver foot and ankle is essential to obtain valid biomechanical data. Data for external ground reaction forces are readily available from human motion analysis. However, determining appropriate forces for extrinsic foot and ankle muscles is more problematic. A common approach is the estimation of forces from muscle physiological cross-sectional areas and electromyographic data. We have developed a novel approach for loading the Achilles and posterior tibialis tendons that does not prescribe predetermined muscle forces. For our loading model, these muscle forces are determined experimentally using independent plantarflexion and inversion angle feedback control. The independent (input) parameters -- calcaneus plantarflexion, calcaneus inversion, ground reaction forces, and peroneus forces -- are specified. The dependent (output) parameters -- Achilles force, posterior tibialis force, joint motion, and spring ligament strain -- are functions of the independent parameters and the kinematics of the foot and ankle. We have investigated the performance of our model for a single, clinically relevant event during the gait cycle. The instantaneous external forces and foot orientation determined from human subjects in a motion analysis laboratory were simulated in vitro using closed-loop feedback control. Compared to muscle force estimates based on physiological cross-sectional area data and EMG activity at 40% of the gait cycle, the posterior tibialis force and Achilles force required when using position feedback control were greater.