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	—