AssistOn-Ankle: A Self Aligning, Reconfigurable Exoskeleton for Ankle Injuries

AssistOn-AnkleAssistOn-Ankle_renderlAssistOn-Ankle is a self-aligning, reconfigurable, parallel mechanism, based, force feedback exoskeleton for the human ankle. The device can either be employed as a balance/proprioception trainer or configured to accommodate range of motion (RoM)/strengthening exercises. The exoskeleton can be utilized as a clinical measurement tool to estimate dynamic parameters of the ankle and to assess ankle joint properties in physiological and pathological conditions.