NOVELTY - The device (1) has a base platform (3) faced with a leg of an operator, and a moving platform (2) faced with a foot of the operator. A connecting member (4) connects the base platform and the moving platform. A joint member (5) connects the connecting member to the moving platform. The joint member is formed as a reconfigurable joint that freely rotates around two axes in an unlocked position, and the two axes are tangential and perpendicular to a base plate. The joint is formed as a revolute joint that is free to rotate around an axis when a joint axis is locked.    USE - Ungrounded, wearable and reconfigurable ankle therapy and measurement exoskeleton device for supporting range of motion/strengthening exercises, balance/prop-rioception exercises, metatarsophalangeal joint exercises, measuring joint configuration, speed of movement, trajectory, trajectory error, smoothness of movement, range of motion, coordination and synergies, maximum joint torques at any configuration, joint torques by tracing any trajectory, tone and impedance of a human ankle (all claimed). Uses include but are not limited to rehabilitation robot, robot-assisted rehabilitation, physical therapy device, force feedback exoskeleton, haptic interface for medical treatment, clinical measurement device, ankle rehabilitation system, ankle orthosis and rehabilitation device for ankle physiotherapy.    ADVANTAGE - The device supports human weight and complex motions of the foot during balance/prop-rioception exercises. The device is ergonomic, light in weight, wearable, portable and safe, and allows the motion of the human ankle. The device has higher control performance due to parallel kinematic structure and optimized bandwidth. The device guides, assists or resists a patient during physical therapy. The level of assistance and resistance of the device are adjustable. The device can be programmed to estimate ankle joint parameters such as ankle tone and impedance.    DETAILED DESCRIPTION - An INDEPENDENT CLAIM is also included for a method for performing clinical measurements.    DESCRIPTION OF DRAWING(S) - The drawing shows a perspective view of an ungrounded, wearable and reconfigurable ankle therapy and measurement exoskeleton device.    Ungrounded, wearable and reconfigurable ankle therapy and measurement exoskeleton device (1)    Moving platform (2)    Base platform (3)    Connecting member (4)    Joint member (5)