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An in vivo method for joint kinematics visualization and analysis is described. Low-dose computed tomography allowed three-dimensional joint modeling, and electrogoniometry collected joint kinematic data. Data registration occurred using palpated anatomical landmarks to obtain interactive computer joint simulation. The method was applied on one volunteer's ankle, and reproducibility was tested (maximal discrepancy: 3.6 deg and 5.5 mm for rotation and translation respectively).