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

Figure 2

Typical parallel ankle robot designs with or without aligned rotation center between the robot and the ankle joint: (a) misaligned rotation center, (b) can be programed to have aligned rotation center but will sacrifice workspace, and (c) aligned rotation center without sacrificing workspace. The blue dots represent the ankle joint. A: the moving platform; B: the fixed platform.

(a)

(b)

(c)