In this paper we present a redundantly actuated parallel mechanism for ankle rehabilitation. The proposed device has the advantage of mechanical and kinematic simplicity when compared with the state-of-the-art multi-degree-of-freedom parallel mechanism prototypes while at the same time it is fully capable of carrying out the exercises required by the ankle rehabilitation protocols. Optimization of the device workspace, dexterity, torque output and size was carried out during the design phase of the device. The development of the system involved the realization of a new customized linear actuator able to meet the speed and force requirements of the device functionality. We also discuss the impedance-based control scheme used for the redundantly actuated device, which allows the execution of both assistive and resistive strengthening rehabilitation regimes. Results from the control of a single linear actuator and further experimental tests including the position tracking of the fully actuated platform are presented. It is believed that the performance and the simplicity of the proposed mechanism will allow the widespread use of the system as a new aid tool for ankle rehabilitation.
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