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.spidertattooz.com/Messerschmitt-Me262A-1A-Fighter-Aircraft-LT-Walter-Hagenah-III-Jagdeschwader-7-Larz-Airfield-Germany-1945-German-Luft/