The human ankle joint plays a crucial role in locomotion, providing stability, force transmission, and adaptation to diverse terrains. This work is aimed at examining the ankle motion that can be used for motion analysis and characterization as well as for reference trajectory of assisting devices by using video motion capture systems. This paper focuses on the experimental characterization of ankle motion by analysing its workspace that is defined as the set of all reachable positions of the foot in three-dimensional space. By using motion capture systems, a comprehensive assessment of the ankle’s biomechanical behaviour was conducted. Data were collected from volunteer participants performing standardized movements along the main axes of motion: dorsiflexion/plantarflexion, inversion/eversion, and abduction/adduction. The workspace was determined using convex hull analysis to map the range of motion and evaluate the distribution of movement across different planes.