The ankle represents one of the most complex bone structures in human body and the overall ankle motion is therefore complicate. In addition, motion analysis of ankle is a key issue in ankle rehabilitation and in developing an ankle rehabilitation device. Based on the analysis of the structure of ankle and its motion, this paper proposed two types of motion modes of ankle, according to the modes, two different kinds of rehabilitation robots are proposed respectively. Then the mechanical design, the kinematics and workspace analysis are derived for the proposed rehabilitation robots. Fig. 1 Left: bones of the ankle and sub talar joint, and parts of the lateral ankle ligaments. Right: X-ray image of ankle and talar joints [3]978-1-4244-4775-6/09/$25.00

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