Ankle injury is one of physical injury that commonly occurs in physical related activities especially in sports. Currently, there are established treatments for ankle rehabilitation at the hospital. This treatment involves range of motion exercise and endurance exercise. However, current treatment requires patients to visit to hospital frequently which is very repetitive in nature. One of the solutions to deal with repetitiveness of the treatment is by introducing an automated device such as a robot to help therapist to perform this repetitive task on the patients. For this task, a concept design for a cable driven ankle rehabilitation robot has been proposed. The focus of this paper is to present forward kinematics analysis of the proposed concept design of the robot. This approach is aimed to determine the feasibility of the concept design. Then, testing and verification through motion capture camera is taken to test the feasibility of the Forward Kinematics calculation. Based on the results, majority of the samples had recorded satisfactory results in verifying the FK calculation. Overall, analysis of forward kinematics of the proposed robot are still important to predict the trajectory paths of the moving platform of the robot in order to determine suitable dimension of the design for fabrication in the later stage of the robot.
