Then, based on the kinematics and statics of the ankle rehabilitation robot mechanism, we did its trajectory planning which is good for ankle rehabilitating and designed its control system.

首先，结合运动解剖学、临床医学和康复医学等相关知识，分析了踝关节的损伤类型、机理，建立了踝关节的仿生机构学模型和康复运动模型。

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The aim of this paper is to develop a new ankle rehabilitation robot system.

本文以设计新型并联式踝关节康复机器人系统为研究目的。

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