Research Article
Development of a New Robotic Ankle Rehabilitation Platform for Hemiplegic Patients after Stroke
Table 1
Existing state-of-the-art ankle rehabilitation robots.
| Catalog | System or developer | DOFs | Payload |
| Parallel structure | Saglia et al. [2] | 2 | ≤120 Nm | Rutgers University [5] | 6 | ≤35 Nm | Liu et al. [6] | 3 | | Meng et al. [7] | 6 | — | Muhammad and Shafriza [8] | 3 | — | Yu et al. [9] | 3 | — |
| Exoskeletal structure | Jeffrey et al. [10] | 1 | ≤30 Nm | Delaware University [11] | 2 | — | Rahman and Ikeura [12] | 1 | ≤60 Nm | Hong et al. [13] | 3 | — |
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