Structure Design, Kinematics Analysis, and Effect Evaluation of a Novel Ankle Rehabilitation Robot
This paper presents a novel ankle rehabilitation (2-CRS+PU)&R hybrid mechanism, which can meet the size requirements of different adult lower limbs based on Footwear the three-movement model of the ankle.This model is related to three types of movement modes of the ankle movement, without axis offset, which can cover the ankle joint movements.The i