Figure 6 shows that when the target angle is reached, it can be confirmed that the position control is continued as it is. As presented in Figure 7, even if the position control is performed by angle restriction, the target angle cannot be reached within 1–6 s; after 6 s, an increase in air pressure at position control can be confirmed. It is understood that position control is switched to force control. In actual measurement results, applied pressure of 1–6 s at the time of angle restriction is 0.072 MPa. The foot reaction force is 29.6 N in the calculated value. However, because the applied pressure after 6 s is calculated as 0.08 MPa and because the foot reaction force is calculated as 32.9 N, it can be confirmed that the force applied to the sole is increased by 10% by switching to force control.

4. Ankle neuro rehabilitation system.

4.1 System setup

   Figure 8 depicts the ankle neurorehabilitation system.