Simulation and Verification on a Novel Ankle Rehabilitation Robot

This paper proposes a novel ankle rehabilitation robot. The proposed robot is composed of a series mechanism, three-branch parallel mechanisms and a supporting bracket. The simulation and verification of the proposed robot with a human ankle model were carried out in the human modeling and simulation software system. And the comparison and analysis of the feasibility and the validity for the proposed ankle rehabilitation robot were further discussed. The simulation results confirm this proposed rehabilitation robot can satisfy the ankle rehabilitation requirements.