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

Figure 3

Three design solutions of the 3-DOF ankle rehabilitation robotic platform: (a) mechanical diagram of solution I; (b) mechanical diagram of solution II; (c) mechanical diagram of solution III; (d) 3D model of solution I; (e) 3D model of solution II; (f) 3D model of solution III.

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