The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. Researchers present the kinematics and statics of a cable-driven reconfigurable ankle rehabilitation robot. First, researchers studied how the tendons pull mid-foot bones around the talocrural and subtalar axes. Researchers proposed a hybrid serial-parallel mechanism analogous to the ankle. Then, using screw theory, researchers synthesized a cable-driven robot with the human ankle in the closed-loop kinematics.