Hybrid Mechanism Research Articles

Surface phonon localization and heat flux regulation in nanophononic metamaterials

Nanophononic metamaterials (NPM) have received surging research attention for thermal conductivity modification. The local resonance hybridization mechanism of NPM is of great significance to the performance optimization of heat flux regulation devices. In this Letter, using silicon nanofilm with a periodic array of nanopillars as example, we systemically studied the phonon localization effect and heat flux regulation. The results demonstrate that the phonon localization effect produced by the nanopillars is mainly concentrated in the region close to surface layer. Moreover, the effects of nanopillar height, spacing, and atomic mass of atoms in the nanopillars on the localization are also explored. Finally, the relationship between phonon localization and heat flux density is demonstrated through non-equilibrium molecular dynamics calculations. This study provides not only the better understanding of the phonon resonance hybridization mechanism in nanophononic metamaterials but also useful guidelines for the design of nanoscale heat flux regulation devices.

Brands are calling your AVATAR in Metaverse–A study to explore XR‐based gamification marketing activities & consumer‐based brand equity in virtual world

AbstractBrands are moving towards the Metaverse (3D immersive virtual spaces), where the growth of intangible products and nonfungible tokens (NFTs) are evolving into a new type of hybrid experience for the users. This paper aims to establish the role of a “gamification of marketing activities” and its influence on consumer‐based brand equity for intangible products (NFTs) in the Metaverse and examine the mediating role of consumers' brand engagement and brand love. To evaluate the conceptual model based on the cross‐cultural data from two emerging countries in Asia and Africa, the study followed a two‐stage, hybrid mechanism using PLS‐SEM and neural network modeling. This study provides insights into the Metaverse–a new taxonomy of technology, in the context of embodiment, presence of AVATAR, and interactivity in the virtual world, supported by the social exchange theory. This study also suggests practitioners focus on brand authenticity while projecting their brand in the Metaverse.

Universally Grasping Objects with Granular-Tendon Finger: Principle and Design.

Nowadays, achieving the stable grasping of objects in robotics requires an increased emphasis on soft interactions. This research introduces a novel gripper design to achieve a more universal object grasping. The key feature of this gripper design was a hybrid mechanism that leveraged the soft structure provided by multiple granular pouches attached to the finger skeletons. To evaluate the performance of the gripper, a series of experiments were conducted using fifteen distinct types of objects, including cylinders, U-shaped brackets, M3 bolts, tape, pyramids, big pyramids, oranges, cakes, coffee sachets, spheres, drink sachets, shelves, pulley gears, aluminium profiles, and flat brackets. Our experimental results demonstrated that our gripper design achieved high success rates in gripping objects weighing less than 210 g. One notable advantage of the granular-tendon gripper was its ability to generate soft interactions during the grasping process while having a skeleton support to provide strength. This characteristic enabled the gripper to adapt effectively to various objects, regardless of their shape and material properties. Consequently, this work presented a promising solution for manipulating a wide range of objects with both stability and soft interaction capabilities, regardless of their individual characteristics.

Unraveling the thallium immobilization in CuO/PMS system

Thallium (Tl) is a hypertoxic and high-mobile heavy metal in aquatic system of mineral deposits. Although Tl geochemically possesses chalcophilic character, little is known about the copper-bearing ores, such as cupric oxide (CuO), in terms of the adsorption behaviors of Tl cations. In this work, the hybrid processes and mechanisms of catalysis and adsorption of Tl(I) on CuO nanoparticles under peroxymonosulfate (PMS) catalytic system were comparatively examined, through empirical models (oxidation kinetics, adsorption kinetics, and adsorption isotherms), characterizations (HRTEM, XRD, EPR, and XPS), and independent gradient model based on Hirshfeld partition. CuO/PMS performed high oxidation rate (0.284 min−1) coupled with the maximum adsorption capacity (369.54 mg·g−1) to eliminate Tl(I) under the optimal conditions (400 mg·g−1 CuO, 1 mM PMS, and pH 10). 1O2 and OH functioned as the pivotal contributors for Tl(I) oxidation. Simultaneous adsorption of Tl(III) onto CuO comprised chemisorption, electrostatic attraction, and surface complexation. Tl(H2O)33+ hydrate equipped stronger van der Waals force and H-bond interaction to CuO (111) surface than Tl(H2O)2+ hydrate, which serves as the cornerstone for Tl(III) immobilization and detoxification. The discoveries provide a pioneering and promising comprehension of the interaction and destiny of Tl cations with copper-based ores.

Formation mechanism and mechanical strength evaluation of hybrid riveted/solid-state bonded aluminium alloy joint

In this research, an improved friction self-piercing riveting (F-SPR) process with internally threaded rivet and flat die was proposed to achieve hybrid riveted/solid-state bonded connection for low-ductility aluminium alloys. Instead of relying on rivet shank flaring to form mechanical interlock in the existing F-SPR process, a reliable threaded connection was established between the rivet shank and sheets by rapid filling of sheet material into the rivet thread grooves. A perfectly flat joint bottom was formed without inducing large-scale sheet distortion. A series of experimental tests were performed to clarify the joint quality characteristics, formation mechanism and mechanical performance. The results revealed that the quality of newly formed five aluminium threads demonstrated a decline trend from bottom to top. Two kinds of thread formation mechanisms were identified: The mechanism I is solely composed of Filling step and applied to upper four threads; The mechanism II consists of Filling-Fracturing-Welding steps and is applied to the lowest thread. Discontinuous solid-state bonding was formed at the sheet interface around the rivet shank periphery, whilst a bowknot-liked solid-state bonding zone with a weak welded zone and an unwelded zone was formed at the joint centre. Rivet pull-out failure from the bottom sheet was observed for the studied AA7075-T6 joints under both lap-shear and cross-tension loads. The peak loads reached 9.79±0.23 kN and 5.41±0.15 kN in the lap-shear and cross-tension tests, and the corresponding energy absorption was 13.82±0.59 J and 16.42±0.87 J.

PYL Family Genes from Liriodendron chinense Positively Respond to Multiple Stresses.

The phytohormone abscisic acid (ABA) plays important roles in response to abiotic and biotic stresses in plants. Pyrabactin resistance 1-like (PYR/PYL) proteins are well-known as ABA receptors, which are responsible for ABA signal transduction. Nevertheless, the characteristics of PYL genes from Liriodendron chinense, an endangered timber tree, remain unclear in coping with various stresses. In this study, five PYLs were identified from the genome of Liriodendron chinense by sequence alignment and conserved motif analysis, which revealed that these LcPYLs contain a conserved gate and latch motif for ABA binding. The LcPYL promoters possess a series of cis-acting elements involved in response to various hormone and abiotic stresses. Moreover, the transcriptome data of Liriodendron hybrid leaves reveal that LcPYL genes specifically transcript under different abiotic stresses; Lchi11622 transcription was induced by drought and cold treatment, and Lchi01385 and Lchi16997 transcription was upregulated under cold and hot stress, respectively. Meanwhile, the LcPYLs with high expression levels shown in the transcriptomes were also found to be upregulated in whole plants treated with the same stresses tested by qPCR. Moreover, under biotic stress caused by scale insect and whitefly, Liriodendron hybrid leaves exhibited a distinct phenotype including disease spots that are dark green in the middle and yellow on the margin; the qPCR results showed that the relative expression levels of Lchi13641 and Lchi11622 in infected leaves were upregulated by 1.76 and 3.75 folds relative to normal leaves, respectively. The subcellular localizations of these stress-responsive LcPYLs were also identified in protoplasts of Liriodendron hybrid. These results provide a foundation to elucidate the function of PYLs from this elite tree species and assist in understanding the molecular mechanism of Liriodendron hybrid in dealing with abiotic and biotic stresses. In future research, the detailed biological function of LcPYLs and the genetic redundancy between LcPYLs can be explored by gene overexpression and knockout based on this study.

Type Synthesis of 5-DOF Hybrid (Parallel-Serial) Manipulators Designed from Open Kinematic Chains

The article proposes an approach for synthesizing hybrid (parallel-serial) manipulators with five degrees of freedom (5-DOF) using open kinematic chains. The method idea consists in taking an open kinematic chain, selecting a subchain within it, and replacing the subchain with a parallel mechanism. The article considers 5-DOF open chains and 3-DOF subchains, substituted for 3-DOF parallel mechanisms with the same motion pattern as the subchain. Thus, synthesized hybrid manipulators have a 3-DOF parallel part and a 2-DOF serial part. First, we grouped 26 structures of open chains with revolute and prismatic joints into five types and 78 subtypes. Next, for each type, we selected one subtype and presented several hybrid mechanisms that can correspond to it. We considered hybrid manipulators that included 3-DOF parallel mechanisms with planar, spherical, and other commonly used motion types. The suggested synthesis method is intuitive for a designer, and it does not need any mathematical formulations like screw theory or group theory approaches.

Kinematic Analysis of a Spatial Cable-Driven Mechanism and Its Equivalent Hybrid Mechanism for Elliptical Trajectory

In this paper, a spatial cable-driven parallel mechanism in a V-shaped cable arrangement is proposed. It is further simplified as a planar hybrid cable-driven parallel mechanism to analyze its kinematics, which consists of two identical active cable chains and a passive cross-slide mechanism. In order to investigate the degrees of freedom (DoFs) of the hybrid mechanism using screw theory, cable chains are represented as rotational–prismatic–rotational (RPR) chains. The motion pairs of all the chains are denoted according to screw theory. Firstly, the number and the types of DoFs of each chain are determined. Then, the number and the types of DoFs for the hybrid mechanism are calculated. Furthermore, the theoretical result is verified using the modified Grübler–Kutzbach (G-K) formula. It shows that the unique DoF of the equivalent mechanism is a rotation with a continuously changing axis, which is consistent with the V-type cable-driven mechanism with elliptical trajectories. Finally, the kinematics analysis of the cross-slider mechanism driven by two cables is carried out. The length, velocity and acceleration of the cables are obtained from numerical calculation in MATLAB, and the results are demonstrated using ADAMS simulation.

Lithium Manganese Sulfates as a New Class of Supercapattery Materials at Elevated Temperatures.

To make supercapattery devices feasible, there is an urgent need to find electrode materials that exhibit a hybrid mechanism of energy storage. Herein, we provide a first report on the capability of lithium manganese sulfates to be used as supercapattery materials at elevated temperatures. Two compositions are studied: monoclinic Li2Mn(SO4)2 and orthorhombic Li2Mn2(SO4)3, which are prepared by a freeze-drying method followed by heat treatment at 500 °C. The electrochemical performance of sulfate electrodes is evaluated in lithium-ion cells using two types of electrolytes: conventional carbonate-based electrolytes and ionic liquid IL ones. The electrochemical measurements are carried out in the temperature range of 20-60 °C. The stability of sulfate electrodes after cycling is monitored by in-situ Raman spectroscopy and ex-situ XRD and TEM analysis. It is found that sulfate salts store Li+ by a hybrid mechanism that depends on the kind of electrolyte used and the recording temperature. Li2Mn(SO4)2 outperforms Li2Mn2(SO4)3 and displays excellent electrochemical properties at elevated temperatures: at 60 °C, the energy density reaches 280 Wh/kg at a power density of 11,000 W/kg. During cell cycling, there is a transformation of the Li-rich salt, Li2Mn(SO4)2, into a defective Li-poor one, Li2Mn2(SO4)3, which appears to be responsible for the improved storage properties. The data reveals that Li2Mn(SO4)2 is a prospective candidate for supercapacitor electrode materials at elevated temperatures.

Fabrication of branch-like Aph@LDH-MgO material through organic-inorganic hybrid conjugation for excellent anti-corrosion performance

Layered double hydroxides (LDH) frameworks have shown significant enhancement in stability and reusability, and their tailorable architecture brings new insight into the development of the next generation of hybrid materials, which attracted considerable attention in many fields over the years. One of the factors contributing to the widespread applicability of layered double hydroxides is their adaptable composition, which can accommodate a wide spectrum of potential anionic guests. This exceptional property makes the LDH system simple to adjust for various applications. However, most LDH systems are synthesized in situ in an autoclave at high temperatures and pressures that severely restrict the industrial use of such coating systems. In this study, LDH was directly synthesized on a magnesium alloy that had undergone plasma electrolytic oxidation (PEO) treatment in the presence of ethylenediaminetetraacetic acid, thereby avoiding the use of hydrothermal autoclave conditions. This LDH system was compared with a hybrid architecture consisting of organic-inorganic self-assembly. An organic layer was fabricated on top of the LDH film using 4-Aminophenol (Aph) compound, resulting in a smart hierarchical structure that can provide a robust Aph@LDH film with excellent anti-corrosion performance. At the molecular level, the conjugation characteristics and adsorption mechanism of Aph molecule were studied using two levels of theory as follows. First, Localized orbit locator (LOL)-π isosurface, electrostatic potential (ESP) distribution, and average local ionization energy (ALIE) on the molecular surface were used to highlight localization region, reveal the favorable electrophilic and nucleophilic attacks, and clearly explore the type of interactions that occurred around interesting regions. Second, first-principles based on density functional theory (DFT) was applied to study the hybrid mechanism of Aph on LDH system and elucidate their mutual interactions. The experimental and computational analyses suggest that the high π-electron density and delocalization characteristics of the functional groups and benzene ring in the Aph molecule played a leading role in the synergistic effects arising from the combination of organic and inorganic coatings. This work provides a promising approach to design advanced hybrid materials with exceptional electrochemical performance.

Competitive aptamer switch for modulating ligand binding affinity

Aptamers are short, single-stranded DNA or RNA molecules that selectively bind to a target molecule. Aptamer-complement duplex (ACD) is often used to design molecular switches capable of producing a detectable signal or triggering a structural change upon aptamer binding to a target. However, such aptamer switch generally faces an increased dissociation constant (Kd) due to the energy barrier of the complementary duplex. We reported a competitive hybridization mechanism to modulate the binding affinity of an ACD to a target adenosine. Using the computation-guided design, we calculated the aptamer folding energy for the duplex length from 11-nt to 15-nt, and experimentally measured increased apparent Kd values resulted from these extended duplexes. Using a set of strands to compete with the ACD hybridization, it reduced the aptamer folding energy to facilitate aptamer switches with decreased apparent Kd values ranging from over 400 μM without a competing strand to ∼30 μM with a competing strand. This competitive aptamer switch was also found sensitive to single-nucleotide mutations of a competing strand. Our work provides an approach to modulate the binding affinity and the sensitivity of aptamer-complement duplexes, which could be useful in the nucleic acids-based sensing and nanomedicine.

Structural and magnetic interplay in multiferroic Ho0.5Nd0.5Fe3(BO3)4

Rare-earth iron borates, $R{\mathrm{Fe}}_{3}{({\mathrm{BO}}_{3})}_{4}$ ($R$ = rare earth), are of considerable interest because of their structural and magnetic complexities due to the involvement of both $3d$ and $4f$ magnetic interactions in a helical lattice. Among them ${\mathrm{Ho}}_{0.5}{\mathrm{Nd}}_{0.5}{\mathrm{Fe}}_{3}{({\mathrm{BO}}_{3})}_{4}$ has attracted the most attention, as it exhibits a multiferroic property with a large, spontaneous, and magnetic-field-induced electric polarization ($P$) below the antiferromagnetic transition temperature (${\mathrm{T}}_{N}\phantom{\rule{4pt}{0ex}}\ensuremath{\sim}32$ K). This compound has been reported to be noncentrosymmetric (nonpolar) down to the lowest temperature, and the origin of spontaneous electric polarization below ${\mathrm{T}}_{N}$ is not known. By utilizing temperature-dependent synchrotron x-ray powder diffraction, we report here the observation of structural phase transition, i.e., the lowering of crystal symmetry from $R32$ to $P{3}_{1}21$ below ${\mathrm{T}}_{N}$ in ${\mathrm{Ho}}_{0.5}{\mathrm{Nd}}_{0.5}{\mathrm{Fe}}_{3}{({\mathrm{BO}}_{3})}_{4}$, which is further confirmed by single-crystal x-ray diffraction measurements as well as substantiated by dielectric and Raman spectroscopic results. With the help of x-ray resonant magnetic scattering, we have studied the element-specific magnetic ordering behavior, and by combining all the results, we show that the spontaneous electric polarization below the antiferromagnetic ordering transition emerges through the p-d hybridization mechanism associated with the ${\mathrm{FeO}}_{6}$ octahedra. The observations of subtle structural changes at low temperature and element-specific magnetic ordering behavior provide a comprehensive understanding of the multiferroicity in this family of compounds.

Study on self-centering mechanism of different yield strength hybrid buckling restrained braces

Conventional buckling-restrained braces (BRBs) exhibit stable compressive and tensile strengths and excellent energy dissipation characteristics. Nevertheless, the low post-yield stiffness limits the capacity of BRBs to control the peak displacement of the structure. This leads to large residual displacements in structures, which increases the probability of collapse under strong earthquakes. Consequently, introducing a reliable system that dissipates seismic energy, and provides an adequate self-centering capability, is necessary. This study has been carried out to investigate the hybrid BRBs response with different yield strengths (DY-HBRB) using numerical analysis. The cyclic responses, residual displacement, energy dissipation, and equivalent damping coefficient of the DY-HBRB models have been assessed. A simplified core-spring finite element model was utilized to model DY-HBRB elements. Moreover, an innovative trilinear kinematic hysteresis (TKH) model is proposed to simulate the cyclic behavior and facilitate the application of DY-HBRBs to seismic designs. The proposed model has been validated with the experimental investigation and numerical analysis results. The results indicate that selecting appropriate combinations of steel cores with different yield strengths in DY-HBRB provides a stable cyclic response with adequate energy dissipation and eliminates a significant part of the residual displacement. In addition, it was confirmed that the proposed TKH model could logically represent the double yield point of the DY-HBRBs with remarkable precision.

In-situ preparation of amorphous VO2@rGO cathode for ultra-high capacity and ultra-long cycle life aqueous zinc ion batteries

Aqueous zinc-ion batteries (AZIBs) are considered as a promising alternative to lithium-ion batteries for stationary energy storage due to their environmental benignity and cost-effectiveness. However, the development of AZIBs continues to be plagued by a lack of cathode materials with high specific capacity and superior lifetime. Herein, we in-situ synthesize amorphous VO2@rGO assisted by controlling the charging cut-off voltage. Experimental results and theoretical calculations confirm that the amorphous VO2(A)@rGO can effectively reduce the migration energy barrier of Zn2+, improve the conductivity of the electrode, and promote the insertion/extraction of Zn2+. Consequently, the Zn//VO2(A)@rGO battery exhibits an ultra-high specific capacity of 527.0 mAh·g−1 at 1 A·g−1 after 100 cycles, an ultra-long cycle stability of 183.4 mAh·g−1 at 20 A·g−1 after 30,000 cycles, and an energy of 316.1 Wh·Kg−1 at a power density of 6082.9 W·Kg−1 power density. Meanwhile, we reveal that the amorphous VO2@rGO electrode follows a hybrid mechanism of classical Zn2+ insertion/de-insertion and the reversible phase transition from amorphous VO2 to V2O3. This study highlights that in-situ preparation of amorphous VO2@rGO cathode materials by controlling the charging voltage interval, opening up further possibilities for the development of high-performance AZIB cathodes.

3d and 5d electronic structures and orbital hybridization in Ba- and Ca-doped La2CoIrO6 double perovskites

Here we present a detailed investigation of the Co and Ir local electronic structures in ${\mathrm{La}}_{1.5}{A}_{0.5}{\mathrm{CoIrO}}_{6}$ ($A=\mathrm{Ba}$, Ca) compounds in order to unravel the orbital hybridization mechanism in these CoIr-based double perovskites. Our results of x-ray powder diffraction, ac and dc magnetization, Co and Ir ${L}_{2,3}$-edge and Co $K$-edge x-ray absorption spectroscopy and x-ray magnetic circular dichroism suggest a competition between magnetic interactions. A dominant antiferromagnetic coupling is found to be responsible for the ferrimagnetic behavior observed for $A=\mathrm{Ca}$ below $\ensuremath{\sim}96\phantom{\rule{0.16em}{0ex}}\mathrm{K}$, the competing magnetic phases, and the cationic disorder in this compound giving rise to a spin-glass state at low temperatures. For the $A=\mathrm{Ba}$, on the other hand, there is no evidence of long-range order down to its spin-glass transition temperature. The remarkably different magnetic properties observed between these two compounds are discussed in terms of the structural distortion that alters the strength of the Co-Ir couplings, with a relevant role played by the Co $3d\phantom{\rule{4pt}{0ex}}{e}_{g}--\mathrm{Ir} 5d\phantom{\rule{4pt}{0ex}}{j}_{\mathrm{eff}}=1/2$ hybridization.

Design of Elastomer-Based Piezoresistive Sensors: Materials, Structural Aspects, and Prospects

Elastomer-based piezoresistive sensors are an impactful and promising means of monitoring biological motion, tracking biosignals, and measuring the mechanical collision of physical stimuli in robots or machines. Piezoresistive behavior is generally realized when conductivity is imparted to elastomers, which results in resistivity changes by an external force that induces elastic deformations. Piezoresistive behavior of an elastomer can be achieved by mixing or coating the elastomer with a conductive material, thereby forming a composite structure. In this review, the conductive and elastic components that may determine the performance of a sensor are introduced. Conductive materials are classified into metal fillers, carbon allotropes, and hybrid materials, while elastic structures are classified into nonperiodic/periodic, hierarchical, and textile-based formations. Then, this comprehensive review focuses on textile-based structures for flexible applications, emerging challenges, potential strategies, and finally, the proposed hybrid mechanisms.

Recent progress in carbon-based electrochemical catalysts: From structure design to potential applications

Advances in research and development of carbon-based metal-free electrocatalysts (C-MFECs) have provided potential alternatives to precious metal catalysts for various reactions important to renewable energy and environmental remediation. This timely but critical review provides an overview of recent breakthroughs (within the past 5 years or so) on C-MFECs in all aspects, including the design and regulation of intrinsic catalytic active sites, design and synthesis of carbon composite and hybrid carbon catalysts, mechanism understanding, and potential applications in clean energy storage and energy/chemical conversion. Current challenges and future opportunities in the field of metal-free carbon electrocatalysis are also discussed to provide forward-looking opportunities for their potential applications in various catalytic processes of practical significance.

English

Many innovative approaches have been proposed in modelling and designing the wall climbing robot. Among all these approaches, the main focus is the adhesive mechanism of a wall climbing robot (WCR). This adhesive mechanism is a critical design consideration feature when discussing system reliability. There are various types of adhesive mechanisms like magnetic, suction cup, vacuum, rope and rail, electrostatic, fusion or hybrid type etc., of which the fusion or hybrid mechanism is found to have more payload to weight ratio (P/W value). This paper proposes a hybrid method using both permanent magnet (Nd FeB magnetic wheel) and solenoid electromagnet suction at the central disc. The design is validated using a free-body diagram, and its magnetic adhesion is analyzed by visualizing the magnetic flux density lines through Finite Element Method Magnetics (FEMM) analysis software. Three different analyses in FEMM are made, and their corresponding outcome is discussed concerning its graph.

Directly monitoring the shift in corrosion mechanisms of a model FeCrNi alloy driven by electric potential

Stainless steels are used in a myriad of engineering applications, including construction, automobiles, and nuclear reactors. Developing accurate, predictive mechanistic models for corrosion and electrochemical corrosion kinetics of stainless steels has been a topic of research studies over many decades. Herein, we quantified the aqueous corrosion kinetics of a model austenitic Fe–18Cr–14Ni (wt%) alloy in the presence and absence of applied potential using systematic in situ electrochemical atomic force microscopy (EC-AFM) and transmission electron microscopy (TEM). Without an applied bias, vertical dissolution of corrosion pits is controlled by the surface kinetics/diffusion hybrid mechanism, whereas lateral dissolution is diffusion controlled. When an electric bias is applied, the increase in corrosion rate is dominated by the nucleation of new pits. These insights gained by the in situ EC-AFM will allow applications of this method for a quantitative understanding of corrosion of a wider class of materials.

Structure Design, Kinematics Analysis, and Effect Evaluation of a Novel Ankle Rehabilitation Robot

This paper presents a novel ankle rehabilitation (2-CRS+PU)&R hybrid mechanism, which can meet the size requirements of different adult lower limbs based on the three-movement model of the ankle. This model is related to three types of movement modes of the ankle movement, without axis offset, which can cover the ankle joint movements. The inverse and forward position/kinematics results analysis of the mechanism is established based on the closed-loop vector method and using the optimization of particle groups algorithm. Four groups of position solutions of the mechanism are obtained. The kinematics simulation is analyzed using ADAMS software. The variations of the velocity and acceleration of all limbs are stable, without any sudden changes, which can effectively ensure the safety and comfort of the ankle model end-user. The dexterity of the mechanism is analyzed based on the transport function, and the results indicate that the mechanism has an excellent transfer performance in yielding the structure parameters. Finally, the rehabilitation evaluation is conducted according to the three types of movement modes of the ankle joint. The results show that this ankle rehabilitation mechanism can provide a superior rehabilitation function.