The video shows a 2-dof parallel robot design for ankle rehabilitation. The device can be used for passive and active exercises. In the first case, the patient is passive and the device applies a motion to the patient's foot. In the latter case, the device is passive and the patient actively tries to move his foot perceiving a certain resistance. For passive exercises the device is position controlled while for active exercises an Admittance controller is implemented. This system is under development at the Italian Institute of Technology. More info at

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