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

<div>Classification chart of existing rehabilitation robots developed for ankle therapy (PM: parallel mechanism; SM: serial mechanism; AbEE: actuators below the end effector; AaEE actuators above the end effector). Pictures adopted from studies [<a href="/journals/jhe/2018/1534247/#B5">5</a>–<a href="/journals/jhe/2018/1534247/#B8">8</a>, <a href="/journals/jhe/2018/1534247/#B15">15</a>–<a href="/journals/jhe/2018/1534247/#B20">20</a>] with permission.</div>

Journal of Healthcare Engineering

fig1

Figure 1

Figure 1: Towards Optimal Platform-Based Robot Design for Ankle Rehabilitation: The State of the Art and Future Prospects 