{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T01:54:55Z","timestamp":1760147695704,"version":"build-2065373602"},"reference-count":38,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2023,2,22]],"date-time":"2023-02-22T00:00:00Z","timestamp":1677024000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Federal University of Uberl\u00e2ndia, FAPEMIG, CNPq","award":["303511\/2021-4","PE0000013-FAIR"],"award-info":[{"award-number":["303511\/2021-4","PE0000013-FAIR"]}]},{"name":"CAPES\u2014Finance Code 001 and by the PNRR MUR project","award":["303511\/2021-4","PE0000013-FAIR"],"award-info":[{"award-number":["303511\/2021-4","PE0000013-FAIR"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>The ankle is formed by several joints, and it is the union of the lower leg with the foot. Its main function is to perform dorsiflexion and plantar flexion movements. Many people are affected by ankle problems. These problems can be due to simple factors, but they can also be a sign of a more serious impairment that can lead to the need for ankle rehabilitation. Thus, this paper presents a novel, fairly simple nonmotorized device for ankle rehabilitation. The design of the novel device is based on the crank\u2013rocker mechanism, activated by the patient\u2019s upper limb, allowing the execution of the ankle flexion range. The dimensions of the device were found using a differential evolution algorithm considering the ankle movement limits, the link stress, and singularity configurations. Graphic simulations were performed to validate the mathematical model. A prototype was constructed, and the angular ankle movement was verified. The device is easy to operate and low-cost, and in the future, it may be a tool for ankle rehabilitation.<\/jats:p>","DOI":"10.3390\/robotics12020032","type":"journal-article","created":{"date-parts":[[2023,2,22]],"date-time":"2023-02-22T04:33:56Z","timestamp":1677040436000},"page":"32","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["A User-Friendly Nonmotorized Device for Ankle Rehabilitation"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1378-0363","authenticated-orcid":false,"given":"Rog\u00e9rio Sales","family":"Gon\u00e7alves","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Federal University of Uberl\u00e2ndia, Uberl\u00e2ndia 38408-100, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lucas Ant\u00f4nio Oliveira","family":"Rodrigues","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Federal University of Uberl\u00e2ndia, Uberl\u00e2ndia 38408-100, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ren\u00e9","family":"Humbert","sequence":"additional","affiliation":[{"name":"Department of Applied Mechanics, \u00c9cole Nationale Sup\u00e9rieure de M\u00e9canique et des Microtechniques de Besan\u00e7on, 25000 Besan\u00e7on, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0831-8358","authenticated-orcid":false,"given":"Giuseppe","family":"Carbone","sequence":"additional","affiliation":[{"name":"Department of Mechanical, Energy and Management Engineering, University of Calabria, 87036 Rende, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,2,22]]},"reference":[{"key":"ref_1","first-page":"413","article-title":"Rehabilitation of the Ankle After Acute Sprain or Chronic Instability","volume":"37","author":"Mattacola","year":"2002","journal-title":"J. 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