An in vitro simulation test using a designed well-targeted test rig has been regarded as an effective way to understand the kinematics and dynamics of the foot and ankle complex in the dynamic stance phase, and it also allows alterations in both internal and external control compared to in vivo tests. However, current simulators are limited by some assumptions. In this study, a novel foot and ankle bionic dynamic simulator was developed and validated. A movable 6-degree-of-freedom parallel mechanism, known as Steward platform, was used as the core structure to drive the tibia, with a tibial force actuator applied with different loads. Four major muscle groups were actuated by four sensored pulling cables connected to muscle tendons. Simulation processes were controlled using a software developed based on a proportional–integral–derivative control loop, with tension–compression sensors mounted on tendon pulling cables and used as real-time monitor signals. An iterative learning module for tibial force control was integrated into the control software. Six specimens of the cadaveric foot–ankle were used to validate the simulator. The stance phase was successfully simulated within 5 s, and the tibia loads were applied based on the body weight of the cadaveric specimen donors. Typical three-dimensional ground reaction forces were successfully reproduced. The coefficient of multiple correlation analysis demonstrated good repeatability of the dynamic simulator for the ground reaction force (coefficient of multiple correlation > 0.89) and the range of ankle motion (coefficient of multiple correlation > 0.87 with only one exception). The simulated ranges of the foot–ankle joint rotation in stance were consistent with in vivo measurements, indicating the success of the dynamic simulation process. The proposed dynamic simulator can enhance the understanding of the mechanism of the foot–ankle movement, related injury prevention, and surgical intervention.

使用设计良好的针对性测试台进行体外模拟测试被认为是了解动态站立阶段足踝复合体运动学和动力学的有效方法，并且还允许比较内部和外部控制的改变到体内试验。然而，当前的模拟器受到一些假设的限制。在这项研究中，开发并验证了一种新型的足踝仿生动力学模拟器。一个可移动的 6 自由度平行机构，称为 Steward 平台，被用作驱动胫骨的核心结构，胫骨力致动器施加不同的载荷。四个主要肌肉群由连接到肌腱的四个感应拉索驱动。模拟过程使用基于比例-积分-微分控制回路开发的软件进行控制，张力-压缩传感器安装在肌腱拉索上，用作实时监控信号。用于胫骨力控制的迭代学习模块被集成到控制软件中。六个尸体足踝标本用于验证模拟器。在 5 秒内成功模拟了站立阶段，并根据尸体标本供体的体重施加胫骨载荷。成功再现了典型的三维地面反作用力。多重相关分析的系数证明了动态模拟器对地面反作用力的良好重复性（多重相关系数> 0。89）和踝关节运动范围（多重相关系数> 0.87，只有一个例外）。模拟的足踝关节旋转范围与体内测量结果一致，表明动态模拟过程是成功的。所提出的动态模拟器可以增强对足踝运动机制、相关损伤预防和手术干预的理解。