一般而言，在設計腳踝復健機構時，是將腳踝視為在一固定位置、方向旋轉的單一自由度旋轉接頭。因此，當將腳安裝於復健機構上時，腳踝便會被機構所牽引，以產生一個自由度的復健運動。然而，這種將腳踝假設為一個固定旋轉軸的接頭可能是不正確的。原因是因為腳踝是一個非常複雜的關結，且在作動的過程中，腳踝的旋轉軸心會連續性的變換位置及角度，且這種變化是無法被預期的。為了解決腳踝旋轉中心位置、方向改變的議題，一文獻曾提出了一種5R2P腳踝復健機構，其具有可被動適應腳踝旋轉軸心位置及角度改變之特性，意即復健機構在作動的過程中，允許腳踝旋轉中心任意變換其位置與角度。因此，腳踝在復健過程中不會受到額外的約束且能完成更靈活的復健運動。為了增加5R2P復健機構之力傳遞效率以及減小機構之體積，本研究將提出一種改良型7R腳踝復健機構。首先，我們會提出概念並證明7R連桿組可產生與5R2P連桿相似性質之動作。以此為基礎，我們將會分析機構在作動過程中的輸入-輸出關係與受力情形，並利用ADAMS機構模擬軟體分析並驗證。最後，我們製作原型機以驗證分析結果是否如實際所測量，同時探討此腳踝復健軟體是否可供患者使用。

Conventionally, the patient’s ankle motion accommodated in a rehabilitation device is defined as a revolute joint with fixed rotation axis. Accordingly, the ankle will be guided by the rehabilitation device to perform a one-DOF rotation. However, such an equivalence may be inappropriate since the human ankle is a complex rotational joint where the position and orientation of its rotation axis are continuously changing during the ankle motion. To tackle with this issue, one research group proposed a 5R2P rehabilitation mechanism that has the ability of adapting to the changes in axis of ankle joint passively. The primary feature of this linkage is that the output rotational joint, which is represented as a rotation of user’s ankle, can have an arbitrary joint axis at any transitory configuration. This advantage allows the patients achieving a flexible flexion motion of the ankle, for which the rotation axis of the ankle is not necessary to follow a fixed direction and location. Inspired by their mechanism, we prosed a modified design of 7R linkage for ankle rehabilitation devices for inherently improving the transmission efficiency and structure compactness. First of all, the concept design from 5R2P linkage to 7R linkages is first demonstrated. Then, the kinematic and force analyses between input and ankle joint are analyzed while the rehabilitation exercise is performing. Based on these results, we will propose a prototype of 7R linkage for ankle rehabilitation device. Last, the experiment of the force measuring and wearing test are constructed.

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