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

Figure 5

Different views of a parallel ankle robot developed by Wang et al. [22]: (A) the moving platform is essentially a two-link serial mechanism with two rotational DOFs and (B) the fixed platform. 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 actuated by a separate rotating motor.

(a)

(b)