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. https://www.hindigyanvishv.com/special-deal-Fluffy-White-Feather-Tinsel-Angel-Halo-quick-deal/