Development of a New Robotic Ankle Rehabilitation Platform for Hemiplegic Patients after Stroke

Table 2

Ankle physiological data.

Axis	Motion	Angle range (degree)	Torque (Nm)	Angular velocity (degrees/s)
x	Inversion	0~30	10	≤100
	Eversion	−20~0
y	Dorsiflexion	0~30	45	≤80
	Plantarflexion	−40~0
z	Internal rot.	0~20	20	≤80
	External rot.	−30~0