Repetitive　and　intensive　physiotherapy　is　indispensable　to　patients　with　ankle　disabilities.　Increasingly　robot-assisted　technology　has　been　employed　in　the　treatment　to　reduce　the　burden　of　the　therapists　and　the　related　costs　of　the　patients.　This　paper　proposes　a　configuration　of　a　wearable　parallel　mechanism　to　supplement　the　equipment　selection　for　ankle　rehabilitation.　The　kinematic　analysis,　i.e.,　the　inverse　position　solution　and　Jacobian　matrices,　is　elaborated.　Several　performance　indices,　including　the　reachable　workspace　index,　motion　isotropy　index,　force　transfer　index,　and　maximum　torque　index,　are　developed　based　on　the　derived　kinematic　solution.　Moreover,　according　to　the　proposed　kinematic　configuration　and　wearable　design　concept,　the　mechanical　structure　that　contains　a　basic　machine-drive　system　and　a　multi-model　position/force　data　collection　system　is　designed　in　detail.　Finally,　the　results　of　the　performance　evaluation　indicate　that　the　wearable　parallel　robot　possesses　sufficient　motion　isotropy,　high　force　transfer　performance,　and　large　maximum　torque　performance　within　a　large　workspace　that　can　cover　all　possible　range　of　motion　of　human　ankle　complex,　and　is　suitable　for　ankle　rehabilitation.