Plantar.
The sole of the foot is the plantar surface.
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The "sole" of the foot is a non-medical term for the part of the foot (excluding the toes) that an individual walks on.
The anatomical term for the back of your foot is the "heel."
The anatomical term for armpit is axilla.
No, the heel and ankle are not the same thing. The heel is the back part of the foot below the ankle joint. The ankle joint is where the foot and the leg meet, connecting the lower leg to the foot.
The anatomical term is "medial."
The anatomical term for the back of your shin is the "posterior calf."