Abstract: The present invention is a continuous passive and active motion machine for the ankle. The invention includes a base configured to be placed on a flat, stable surface. The base is connected to a foot plate portion, which is connected to a drive shaft mechanism that moves along glide tracks using a motor. The foot plate is caused to move in a direction substantially perpendicular to movement of the drive shaft mechanism. Pressure sensors are added to provide feedback data to a controller. The controller potentially alters the behavior of the machine based on the provided feedback data.