The parallel ankle robot developed by Jamwal et al. [8
] and Zhang [21
]: (A) the moving platform is actually a three-link serial mechanism with three rotational DOFs, (B) the fixed platform, and (C) the rotation axis of the robot structure for different postures. The blue dot represents the ankle joint; the blue solid line is the rotation axis of ankle dorsiflexion and plantarflexion; the blue dashdot line is the rotation axis of ankle inversion and eversion; the blue dot line is the rotation axis of ankle adduction and abduction.