Journal of Healthcare Engineering / 2018 / Article / Fig 1

Review Article

Towards Optimal Platform-Based Robot Design for Ankle Rehabilitation: The State of the Art and Future Prospects

Figure 1

Classification chart of existing rehabilitation robots developed for ankle therapy (PM: parallel mechanism; SM: serial mechanism; AbEE: actuators below the end effector; AaEE actuators above the end effector). Pictures adopted from studies [58, 1520] with permission.