Abstract

The goal of this paper is to propose a new ankle rehabilitation platform, which can realize a large range of ankle related foot movements. In designing the rehabilitation system, we assume that the device must provide dorsiflexion/plantar flexion and inversion/eversion movements, necessary for complete recovery of the ankle joint. Therefore the system must be spatial oriented (rotations around two perpendicular axes, hence two degrees of freedom). The device should aim to achieve low cost, low weight and ease of practical realization of the device. We present structural and kinematic aspects of the proposed device for ankle rehabilitation.