Comparing with hip and knee, the design of exoskeleton ankle is much more difficult due to the strict requirements of smaller space, better rigidity and heavier load. A novel ankle exoskeleton with 3-RPS (Revolute- Prismatic-Spherical) parallel mechanism, which can fully sustain the heavy load of human body with good dynamic and kinematic performances, has been conducted to assist rehabilitation of the physically weak persons. The 3-RPS parallel mechanism of ankle joint is optimized in detail. The skin surface electromyographic (sEMG) signals of muscles are applied as main input signals. By preprocessing the sEMG signals, a new neuro-fuzzy controller is developed to predict the user’s motion and control the robotic exoskeleton in real time. The experimental results prove that EMG-based neuro-fuzzy controller is effective, and the parallel ankle with higher stiffness and lighter weight meets the kinematical and dynamical requirement for rehabilitation.

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