A six-bar mechanism which can help patients achieve ankle rehabilitation is presented.The mechanism vector equation is established firstly.The locus equations of its output points are obtained.Through simulating the kinematic characteristics of the aided process

the output point ankle and tiptoe displacement

velocity

acceleration diagrams are obtained

then the suitable speed of the movement of the crank mechanism is analyzed.The simulation results of the analysis provided a theoretical basis to human action point selection

the ways to develop ankle rehabilitation training and the corresponding control mode.