A compact motorized end-effector for ankle rehabilitation training. - Wu, Renxiang; Luo, Mingyang; Fan, Jiaming; Ma, Jingting; Zhang, Naiwen; Li, Jianjun; Li, Qiuyuan; Gao, Fei; Dan, Guo; Gongalves, Rogerio Sales; Xiong, Quan (Frontiers in Robotics & AI, 2024)