<p>In order to promote ankle/lower-limb joint recovery and accelerate tissue healing, patients frequently need structured rehabilitation training. Such training, however, puts a lot of strain on medical staff, is time-consuming, is labour-intensive and suffers from a lack of qualified rehabilitation professionals. This study examines the lower-limb and ankle bone structure and movement mechanism in order to address the need for efficient rehabilitation training for ankle/lower-limb joint dysfunction. The authors suggest a new parallel ankle rehabilitation mechanism based on the parallel mechanism arrangement. The simulation and experiments with an in-house-fabricated prototype are used to illustrate the efficacy and performance of the suggested solution. The new parallel manipulator (PM) that was presented had a big workspace and good motion accuracy, according to the results of the simulation and testing. A theoretical and experimental foundation for enhancing the uniformity and compliance of ankle/lower-limb robot rehabilitation training may be offered by this study. This ankle/lower-limb rehabilitation robot can be used for rehabilitation training in both sitting and laying positions because of its compact size, easy mobility, affordable production cost and configurable range of motion. In this research, we present a new robotic configuration for ankle/lower-limb rehabilitation. The complete kinematic solution and dynamic solutions of a new 4-PR (P stands for prismatic and R stands for Revolute) parallel manipulator are discussed here. The proposed design has four prismatic (P) and four revolute (R) joints, forming a complete 4-PR joint configuration. Kinematic analyses include workspace analyses and virtual modelling of the 4-PR parallel manipulator. The numerical simulation of 4-PR parallel manipulator has been performed to identify the effectiveness of this configuration for the ankle/lower-limb rehabilitation process. Conventional control schemes are selected to minimize the pose (position and orientation) error while tracking the desired trajectories to perform the trajectory tracking operation. Based on satisfactory numerical simulation results, a prototype of 4-PR parallel manipulator is developed with a dimension of 350 × 200 (mm²). Trajectory tracking analysis using a few conventional control schemes is carried out on the developed prototype to present the performance of the proposed system towards the ankle/lower-limb rehabilitation process. The experiment was conducted on a developed in-house prototype to validate the proposed system for ankle gait training movement. In order to lower manufacturing costs and facilitate easy use, it is important to develop an ankle robot that can be utilized more often in clinical or home rehabilitation settings, emphasizing a streamlined design concept. This paper presents a new parallel robot for ankle rehabilitation, highlighting its simplicity in configuration as a key attribute.</p>