A kind of auxiliary device for ankle rehabilitation based on a ball pin vice is introduced in this paper first. The device has two degrees of freedom, while three-dimensional movement of the ankle can be achieved approximately. Motion simulation is preceded by using ADAMS for researching its dynamics and kinematics performance when the upper platform adopts three motion rules to control the movement. The modeling and simulation of the device are described in this paper. The analysis results can

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... be used to optimize structure and determine its characteristic parameter. A process of this research can be as a reference for mechanism analysis of more motion models.