@InProceedings{Satici2009,
	booktitle = {IEEE International Conference on Rehabilitation Robotics},
	author = {Aykut Cihan Satici and Ahmetcan Erdogan and Volkan Patoglu},
	title = {{Design of a Reconfigurable Ankle Rehabilitation Robot and Its Use for the Estimation of Ankle Impedance}},
	year = {2009},
	abstract ={This paper presents the design, analysis, and a clinical application of a reconfigurable, parallel mechanism based, force feedback exoskeleton for the human ankle. The device can either be employed as a
balance/proprioception trainer or configured to accommodate range of motion (RoM)/strengthening exercises. The exoskeleton can be utilized as a clinical measurement tool to estimate dynamic parameters of the ankle and to assess
ankle joint properties in physiological and pathological conditions. Kinematic analysis and control of the device are detailed and a protocol for utilization of the exoskeleton to determine ankle impedance is discussed. The
prototype of the device is also presented.}
}

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