{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T20:34:10Z","timestamp":1777926850901,"version":"3.51.4"},"reference-count":98,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2015,5,14]],"date-time":"2015-05-14T00:00:00Z","timestamp":1431561600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proc Inst Mech Eng H"],"published-print":{"date-parts":[[2015,6]]},"abstract":"<jats:p>Ankle rehabilitation robots are developed to enhance ankle strength, flexibility and proprioception after injury and to promote motor learning and ankle plasticity in patients with drop foot. This article reviews the design elements that have been incorporated into the existing robots, for example, backdrivability, safety measures and type of actuation. It also discusses numerous challenges faced by engineers in designing this robot, including robot stability and its dynamic characteristics, universal evaluation criteria to assess end-user comfort, safety and training performance and the scientific basis on the optimal rehabilitation strategies to improve ankle condition. This article can serve as a reference to design robot with better stability and dynamic characteristics and good safety measures against internal and external events. It can also serve as a guideline for the engineers to report their designs and findings.<\/jats:p>","DOI":"10.1177\/0954411915585597","type":"journal-article","created":{"date-parts":[[2015,5,15]],"date-time":"2015-05-15T20:55:46Z","timestamp":1431723346000},"page":"452-463","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":55,"title":["A review on the mechanical design elements of ankle rehabilitation robot"],"prefix":"10.1177","volume":"229","author":[{"given":"Yusuf M","family":"Khalid","sequence":"first","affiliation":[{"name":"School of Engineering, Monash University Malaysia, Bandar Sunway, Malaysia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Darwin","family":"Gouwanda","sequence":"additional","affiliation":[{"name":"School of Engineering, Monash University Malaysia, Bandar Sunway, Malaysia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Subramanian","family":"Parasuraman","sequence":"additional","affiliation":[{"name":"School of Engineering, Monash University Malaysia, Bandar Sunway, Malaysia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2015,5,14]]},"reference":[{"key":"bibr1-0954411915585597","volume-title":"The biomechanics of the foot and ankle","author":"Donatelli R","year":"1996"},{"issue":"1","key":"bibr2-0954411915585597","first-page":"95","volume":"39","author":"Olmsted LC","year":"2004","journal-title":"J Athl Train"},{"key":"bibr3-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1136\/bjsm.35.2.103"},{"key":"bibr4-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1097\/00042752-200010000-00012"},{"key":"bibr5-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2019783"},{"key":"bibr6-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1161\/CIRCULATIONAHA.105.171600"},{"key":"bibr7-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1016\/j.jstrokecerebrovasdis.2005.03.006"},{"key":"bibr8-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1016\/S0140-6736(98)09477-X"},{"key":"bibr9-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1016\/j.apmr.2005.08.121"},{"key":"bibr10-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1097\/00019052-200112000-00010"},{"key":"bibr11-0954411915585597","first-page":"89","volume":"70","author":"Girone M","year":"2000","journal-title":"Stud Health Technol Inform"},{"key":"bibr12-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1162\/1054746011470262"},{"key":"bibr13-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2007.891384"},{"key":"bibr14-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008938121020"},{"key":"bibr15-0954411915585597","first-page":"550","volume-title":"IEEE 9th international conference in rehabilitation robotics (ICORR 2005)","author":"Boian RF"},{"key":"bibr16-0954411915585597","first-page":"89","volume-title":"Medicine meets virtual reality","author":"Girone M","year":"2000"},{"key":"bibr17-0954411915585597","first-page":"11","volume-title":"Eurohaptics conference","author":"Deutsch JE"},{"key":"bibr18-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1161\/STROKEAHA.108.516328"},{"key":"bibr19-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1097\/01253086-200412000-00054"},{"key":"bibr20-0954411915585597","first-page":"77","volume-title":"International workshop on virtual reality rehabilitation (mental health, neurological, physical, vocational) VRMHR 2002","author":"Boian RF"},{"key":"bibr21-0954411915585597","first-page":"247","volume-title":"11th symposium on haptic interfaces for virtual environment and teleoperator systems","author":"Boian RF"},{"key":"bibr22-0954411915585597","first-page":"654","volume-title":"2011 IEEE international conference on rehabilitation robotics (ICORR 2011)","author":"Cioi D"},{"key":"bibr23-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2012.2206055"},{"key":"bibr24-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-10-30"},{"key":"bibr25-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2009.07.017"},{"key":"bibr26-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1109\/86.372887"},{"key":"bibr27-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1023\/B:AURO.0000016866.80026.d7"},{"key":"bibr28-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1115\/1.3108455"},{"key":"bibr29-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1115\/1.2834289"},{"key":"bibr30-0954411915585597","volume-title":"Modelling and adaptive interaction control of a parallel robot for ankle rehabilitation","author":"Tsoi YH","year":"2011"},{"issue":"3","key":"bibr31-0954411915585597","first-page":"221","volume":"32","author":"Payne KA","year":"1997","journal-title":"J Athl Train"},{"issue":"4","key":"bibr32-0954411915585597","first-page":"413","volume":"37","author":"Mattacola CG","year":"2002","journal-title":"J Athl Train"},{"key":"bibr33-0954411915585597","first-page":"253","volume-title":"2006 IEEE\/RSJ international conference on intelligent robots and systems (IROS 2006)","author":"Liu G"},{"key":"bibr34-0954411915585597","first-page":"509","volume-title":"Haptics symposium 2010","author":"Ye D"},{"key":"bibr35-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1109\/86.481969"},{"key":"bibr36-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2003.823266"},{"key":"bibr37-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1123\/jab.21.2.189"},{"key":"bibr38-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1115\/1.2049333"},{"key":"bibr39-0954411915585597","first-page":"356","volume-title":"IEEE 10th international conference on rehabilitation robotics (ICORR 2007)","author":"Roy A"},{"key":"bibr40-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1682\/JRRD.2010.04.0078"},{"key":"bibr41-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1177\/1545968310388291"},{"key":"bibr42-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-7-23"},{"key":"bibr43-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1016\/j.apmr.2005.07.305"},{"key":"bibr44-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20150"},{"issue":"2","key":"bibr45-0954411915585597","first-page":"79","volume":"28","author":"Lin CK","year":"2008","journal-title":"J Med Biol Eng"},{"key":"bibr46-0954411915585597","first-page":"292","volume-title":"IEEE 10th international conference on rehabilitation robotics (ICORR 2007)","author":"Homma K"},{"key":"bibr47-0954411915585597","first-page":"2180","volume-title":"2009 IEEE international conference in robotics and automation (ICRA 2009)","author":"Saglia JA"},{"key":"bibr48-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1177\/1545968308317437"},{"key":"bibr49-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2219065"},{"key":"bibr50-0954411915585597","first-page":"7483","volume-title":"33rd annual international conference of the IEEE engineering in medicine and biology society","author":"Ren Y"},{"key":"bibr51-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1177\/1545968310388666"},{"key":"bibr52-0954411915585597","author":"Zhou Z","journal-title":"Rob Auton Syst"},{"key":"bibr53-0954411915585597","first-page":"1680","volume-title":"2004 IEEE\/RSJ international conference on intelligent robots and systems (IROS 2004)","author":"Wheeler JW"},{"key":"bibr54-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1016\/j.gaitpost.2005.05.004"},{"key":"bibr55-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-4-48"},{"key":"bibr56-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-3-3"},{"key":"bibr57-0954411915585597","first-page":"3492","volume-title":"IEEE 11th international conference in robotics and automation (ICRA 2009)","author":"Bharadwaj K"},{"key":"bibr58-0954411915585597","first-page":"554","volume-title":"IEEE 10th international conference on rehabilitation robotics (ICORR 2007)","author":"Ward JA"},{"key":"bibr59-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1115\/1.2771231"},{"key":"bibr60-0954411915585597","first-page":"418","volume-title":"International conference on biomedical and pharmaceutical engineering (ICBPE 2006)","author":"Hwang S"},{"key":"bibr61-0954411915585597","first-page":"110","volume-title":"Proceedings of the 1st international convention on rehabilitation engineering & assistive technology: in conjunction with 1st Tan Tock Seng Hospital Neurorehabilitation meeting 2007","author":"Kim J"},{"key":"bibr62-0954411915585597","first-page":"1541","volume-title":"2007 IEEE international conference in robotics and automation (ICRA 2007)","author":"Hitt JK"},{"key":"bibr63-0954411915585597","first-page":"28","volume-title":"IEEE 10th international conference on rehabilitation robotics (ICORR 2007)","author":"Oymagil AM"},{"key":"bibr64-0954411915585597","first-page":"2025","volume-title":"2008 IEEE international conference in robotics and automation (ICRA 2008)","author":"Boehler AW"},{"key":"bibr65-0954411915585597","first-page":"89","volume-title":"IEEE 10th international conference on rehabilitation robotics (ICORR 2007)","author":"Furusho J"},{"key":"bibr66-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1299\/jbse.4.182"},{"key":"bibr67-0954411915585597","first-page":"857","volume-title":"IEEE 11th international conference on rehabilitation robotics (ICORR 2009)","author":"Tanida S"},{"key":"bibr68-0954411915585597","first-page":"2209","volume-title":"2010 IEEE international conference in robotics and automation (ICRA 2010)","author":"Kikuchi T"},{"key":"bibr69-0954411915585597","first-page":"257","volume-title":"IEEE 11th international conference on rehabilitation robotics (ICORR 2009)","author":"Satici AC"},{"key":"bibr70-0954411915585597","first-page":"211","volume-title":"2010 IEEE international conference in robotics and automation (ICRA 2010)","author":"Ward J"},{"key":"bibr71-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1682\/JRRD.2010.04.0054"},{"key":"bibr72-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/9\/1\/016007"},{"key":"bibr73-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2007.339622"},{"key":"bibr74-0954411915585597","volume-title":"World Congress on Medical Physics and Biomedical Engineering","author":"Duschau-Wicke A"},{"key":"bibr75-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-2277-7_17"},{"key":"bibr76-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1310\/6GL4-UM7X-519H-9JYD"},{"key":"bibr77-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1177\/027836402320556331"},{"key":"bibr78-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2004.02.010"},{"key":"bibr79-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904042198"},{"key":"bibr80-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1007\/10946978_10"},{"key":"bibr81-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-9-65"},{"key":"bibr82-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1682\/JRRD.2005.04.0073"},{"key":"bibr83-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1097\/JES.0b013e3181912108"},{"key":"bibr84-0954411915585597","first-page":"3504","volume-title":"2006 IEEE international conference in robotics and automation (ICRA 2006)","author":"Cai L"},{"key":"bibr85-0954411915585597","first-page":"307","volume-title":"IEEE 9th international conference on rehabilitation robotics (ICORR 2005)","author":"Emken J"},{"key":"bibr86-0954411915585597","first-page":"535","volume-title":"IEEE 11th international conference on rehabilitation robotics (ICORR 2009)","author":"Vallery H"},{"key":"bibr87-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-6-20"},{"key":"bibr88-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140701"},{"key":"bibr89-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1177\/027836499701600107"},{"key":"bibr90-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1109\/70.246048"},{"key":"bibr91-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1177\/027836499501400303"},{"key":"bibr92-0954411915585597","first-page":"840","volume-title":"2009 IEEE international conference on robotics and biomimetics (ROBIO 2009)","author":"Tsoi YH"},{"key":"bibr93-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1002\/9780470987667"},{"key":"bibr94-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5_54"},{"key":"bibr95-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1023\/A:1024494031121"},{"key":"bibr96-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-011-0311-3"},{"key":"bibr97-0954411915585597","first-page":"971","volume-title":"2009 IEEE international conference on robotics and biomimetics (ROBIO 2009)","author":"Koceska N"},{"key":"bibr98-0954411915585597","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-89933-4_18"}],"container-title":["Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0954411915585597","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0954411915585597","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0954411915585597","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T22:22:08Z","timestamp":1777674128000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0954411915585597"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,5,14]]},"references-count":98,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2015,6]]}},"alternative-id":["10.1177\/0954411915585597"],"URL":"https:\/\/doi.org\/10.1177\/0954411915585597","relation":{},"ISSN":["0954-4119","2041-3033"],"issn-type":[{"value":"0954-4119","type":"print"},{"value":"2041-3033","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,5,14]]}}}