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LPMS-B sensors measure the range of movement (ROM) of the human ankle joint, and the results are used for control parameters of the robot. Control strategies for constant speed training mode, constant torque training mode, and combination training mode are put forth based on the hardware system of the robot. Experiments verify the feasibility of the robot for ankle rehabilitation training. Results show a maximum mean error of 0.3364\u00b0 between the trajectory of the intact side and the affected side, a maximum mean error of 0.0335\u00b0\/s between target speed and experimental speed, and a maximum mean error of 0.0775\u2009N\u2009m between target torque and experimental torque. The ankle joint rehabilitation robot proposed in this paper can help patients complete the training well under the three control modes.<\/jats:p>","DOI":"10.1177\/09544119231197082","type":"journal-article","created":{"date-parts":[[2023,9,14]],"date-time":"2023-09-14T11:38:42Z","timestamp":1694691522000},"page":"1177-1189","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":2,"title":["Research on an ankle rehabilitation robot for hemiplegic patients after stroke"],"prefix":"10.1177","volume":"237","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5155-2700","authenticated-orcid":false,"given":"Zhengdi","family":"Sun","sequence":"first","affiliation":[{"name":"School of Mechanical and Precision Instrument Engineering, Xi\u2019an University of Technology, Xi\u2019an, Shaanxi, P.R. 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