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. 2017 Dec 4;11:64. doi: 10.3389/fnbot.2017.00064

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Copyright © 2017 Liu, Liu, Meng, Ai and Xie.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Prototype of the soft ankle rehabilitation robot (ARBOT): (1) end effector, (2) pneumatic muscle actuator (PMAs), (3) leg holder, (4) fixed platform, (5) proportional pressure regulator, (6) control box, (7) embedded controller, (8) single-axis load cell, (9) six-axis force/torque sensor, and (10) rotary encoders.