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The treatment response for the negative symptoms of schizophrenia is not ideal, and the efficacy of antidepressant treatment remains a matter of considerable controversy. This systematic review and meta-analysis aimed to assess the efficacy of adjunctive antidepressant treatment for negative symptoms of schizophrenia under strict inclusion criteria.
Methods
A systematic literature search (PubMed/Web of Science) was conducted to identify randomized, double-blind, effect-focused trials comparing adjuvant antidepressants with placebo for the treatment of negative symptoms of schizophrenia from database establishment to April 16, 2025. Negative symptoms were examined as the primary outcome. Data were extracted from published research reports, and the overall effect size was calculated using standardized mean differences (SMD).
Results
A total of 15 articles, involving 655 patients, were included in this review. Mirtazapine (N = 2, n = 48, SMD −1.73, CI −2.60, −0.87) and duloxetine (N = 1, n = 64, SMD −1.19, CI −2.17, −0.21) showed significantly better efficacy for negative symptoms compared to placebo. In direct comparisons between antidepressants, mirtazapine showed significant differences compared to reboxetine, escitalopram, and bupropion, but there were no significant differences between other antidepressants or between antidepressants and placebo. No publication bias for the prevalence of this condition was observed.
Conclusions
These findings suggest that adjunctive use of mirtazapine and duloxetine can effectively improve the negative symptoms of schizophrenia in patients who are stably receiving antipsychotic treatment. Therefore, incorporating antidepressants into future treatment plans for negative symptoms of schizophrenia is a promising strategy that warrants further exploration.
Antimicrobial resistance (AMR) is a global health crisis exacerbated by policies like China’s Volume-Based Procurement (VBP), which may inadvertently increase antimicrobial overuse. This study evaluates a clinical pharmacist-led Antimicrobial Stewardship (AMS) program with prospective audit for special-restricted antimicrobials under VBP.
Methods:
A retrospective quasi-experimental interrupted time-series analysis compared pre-intervention (2022) and post-intervention (2023–2024) data at Tongji Hospital, a tertiary hospital in Wuhan, China. Key metrics included Antimicrobial Use Density (AUD), prescription rationality, antimicrobial costs, and multidrug-resistant infection rates.
Results:
The intervention significantly improved prescription appropriateness for special-restricted antimicrobials (80.24% vs. 93.83%, P < 0.005) and reduced AUD (47.87 vs. 34.25, P < 0.001). Total antimicrobial costs decreased by 41.26%, with a reduction in the incidence of multidrug-resistant infections from 0.084% to 0.062% (P < 0.05). Carbapenem use correlated with CRKP isolation rates (R = 0.62, P < 0.05). Clinical pharmacists rejected 10.24% of prescriptions, all accepted by physicians.
Conclusion:
Pharmacist-led prospective audits optimize antimicrobial use under VBP, mitigate resistance risks, and reduce costs, while acknowledging that concurrent infection control measures may have contributed to these trends. This model may inform similar interventions in other institutions, particularly those in resource-limited settings.
Non-suicidal self-injury (NSSI) is associated with mental disorders, yet work regarding the direction of this association is inconsistent. We examined the prevalence, comorbidity, time–order associations with mental disorders, and sex differences in sporadic and repetitive NSSI among emerging adults.
Methods
We used survey data from n = 72,288 first-year college students as part of the World Mental Health-International College Student Survey Initiative (WMH-ICS) to explore time–order associations between onset of NSSI and mental disorders, based on retrospective age-of-onset reports using discrete-time survival models. We distinguished between sporadic (1–5 lifetime episodes) and repetitive (≥6 lifetime episodes) NSSI in relation to DSM-5 mood, anxiety, and externalizing disorders.
Results
We estimated a lifetime NSSI rate of 24.5%, with approximately half reporting sporadic NSSI and half repetitive NSSI. The time–order associations between onset of NSSI and mental disorders were bidirectional, but mental disorders were stronger predictors of the onset of NSSI (median RR = 1.94) than vice versa (median RR = 1.58). These associations were stronger among individuals engaging in repetitive rather than sporadic NSSI. While associations between NSSI and mental disorders generally did not differ by sex, repetitive NSSI was a stronger predictor for the onset of subsequent substance use disorders among females compared to males. Most mental disorders marginally increased the risk for persistent repetitive NSSI (median RR = 1.23).
Conclusions
Our findings offer unique insights into the temporal order between NSSI and mental disorders. Further work exploring the mechanism underlying these associations will pave the way for early identification and intervention of both NSSI and mental disorders.
This study aimed to explore clinical characteristics and treatment efficacy in patients with posterior canal benign paroxysmal positional vertigo and different sleep qualities.
Methods
Patients with posterior canal benign paroxysmal positional vertigo were divided into high and low sleep quality groups based on Pittsburgh Sleep Quality Index scores.
Results
No significant baseline differences existed between low (n = 53) and high (n = 39) sleep quality groups. However, the proportion of cupulolithiasis was higher in the low sleep quality group (60.38 per cent vs. 35.90 per cent; p < 0.05). Additionally, the low sleep quality group had a longer median duration of upbeat nystagmus during the Dix-Hallpike test (63.50 seconds vs. 26.80 seconds; p < 0.05) and a lower cured rate in initial repositioning (9.43 per cent vs. 56.41 per cent) compared to high sleep quality group. Repositioning therapy significantly improved depressive and anxiety symptoms in all patients with posterior canal benign paroxysmal positional vertigo, with a more pronounced improvement in depressive symptoms in the low sleep quality group.
Conclusion
Poor sleep quality is associated with higher cupulolithiasis prevalence and treatment resistance, with residual symptoms mainly affecting social functioning.
As international exploration of the Meso-Neoproterozoic continues, these layers have become a key target for deep oil and gas field exploration. The Ordos Basin exhibits considerable sedimentary thicknesses within the Meso-Neoproterozoic. However, significant hydrocarbon discoveries have not been forthcoming, primarily due to the complex tectonic evolution. This paper focuses on the southern Ordos Basin, utilizing logging-seismic calibration to interpret seismic data and elucidate Meso-Neoproterozoic tectonic features. By comparing ancient and modern tectonic patterns, based on palaeotectonic maps retrieved through the impression method and combining these with tectonic evolution profiles, the study clarifies the history of tectonic modification. Under the control of two fracture systems – basin-controlling fractures at the margin and trough-controlling fractures – the Changchengian exhibits two categories (single-fault and double-fault) and five sub-categories of fault depression combinations. The study highlights significant differences between ancient and modern tectonics in the Meso-Neoproterozoic, which are attributed to various tectonic stages, including the trough-uplift depositional differentiation stage during the early rift-late depression of the Changchengian, the basin-margin subsidence stage of the southwestern depression of the Jixianian, the uplift and denudation stage of the Sinian basin’s main body and the four-stage tectonic remodelling stage of differential uplift-subsidence in the Palaeoproterozoic. This study employs the ancient-present tectonic pattern as a point of departure, thereby enhancing the theoretical understanding of deep-seated tectonics in the Ordos Basin. It offers novel insights into the exploration of Meso-Neoproterozoic gas reservoirs from a tectonic remodelling perspective.
High gain greater than 106 is crucial for the preamplifiers of joule-class high-energy lasers. In this work, we present a specially designed compact amplifier using 0.5%Nd,5%Gd:SrF2 and 0.5%Nd,5%Y:SrF2 crystals. The irregular crystal shape enhances the gain length of the laser beam and helps suppress parasitic oscillations. The amplified spontaneous emission (ASE) induced by the high gain is analyzed through ray tracing. The balance between gain and ASE is estimated via numerical simulation. The gain spectral characteristics of the two-stage two-pass amplifier are examined, demonstrating the advantages of using different crystals, with bandwidths up to 8 nm and gains over 106. In addition, the temperature and stress distributions in the Nd,Gd:SrF2 crystal are simulated. This work is expected to contribute to the development of high-peak-power ($\ge$terawatt-class) high-energy (joule-class) laser devices.
Schizophrenia is a severe psychiatric disorder affecting 50% of patients intermittently and 20% chronically, with high unemployment rates (80-90%) and reduced life expectancy. Although genetic and neurodevelopmental factors are established non-modifiable risk factors, knowledge gaps persist regarding prevention strategies, particularly the combined impact of modifiable risk factors.
Objectives
The aim of this study is to identify the modifiable risk factors and to estimate their joint effect on Schizophrenia.
Methods
We conducted an exposure-wide association study (EWAS) using the UK Biobank cohort to systematically evaluate 206 potentially modifiable factors associated with schizophrenia risk. The study population comprised individuals without schizophrenia at baseline, with diagnoses determined using ICD-10 criteria. We employed Cox proportional hazard regression models with Bonferroni correction (significance threshold: P<1.91×10-4) to identify significant factors. The identified factors were categorized into six domains: lifestyle, local environment, medical history, physical measures, psychosocial factors, and socioeconomic status (SES). Domain-specific, weighed, and standardized scores were calculated based on coefficients from Cox models, adjusting for covariates. Scores were stratified into tertiles (favorable, intermediate, unfavorable) for risk assessment. Population attributable fractions (PAFs) were calculated to quantify prevention potential.
Results
The study cohort included 498,351 participants (54.45% female; mean age: 56.55 years) followed for a mean duration of 14.37 years, during which 1,345 participants developed schizophrenia. We identified 86 significant modifiable factors, with disability (HR 6.23, 95% CI 5.48-7.07), depression (HR 5.06, 95% CI 4.93-5.20), and anxiety disorders (HR 3.69, 95% CI 3.12-4.36) showing the strongest associations. Our analyses suggested that transitioning unfavorable profiles to intermediate and favorable status (Estimation 1) could prevent 59.6% of schizophrenia cases, while shifting both intermediate and unfavorable profiles to favorable (Estimation 2) could prevent 90.4% of cases. In Estimation 2, the preventive potential was highest for SES (18.0%), followed by medical history (17.5%), lifestyle factors (17.0%), psychosocial factors (14.3%), physical measures (12.8%), and local environment (10.8%).
Image:
Conclusions
This analysis identifies multiple modifiable risk factors for schizophrenia, demonstrating substantial prevention potential through multi-domain interventions. Socioeconomic, medical, and lifestyle factors emerge as key targets for prevention strategies. The consistency of associations across genetic risk strata suggests interventions could be beneficial regardless of genetic predisposition, informing targeted prevention strategies and public health policies.
Depression and anxiety are prevalent mental health disorders. While sleep duration has been extensively studied, sleep regularity may play a critical role. We aimed to examine associations between objectively measured sleep regularity and incident depression and anxiety and to investigate whether meeting recommended sleep duration modifies these associations.
Methods
In 79,666 UK Biobank participants without baseline depression or anxiety, wrist accelerometers worn for 7 days yielded a sleep regularity index (SRI) and average sleep duration. SRI was categorized as irregular (≤51), moderately irregular (52–70), or regular (≥71). Sleep duration was classified by age-specific recommendations (7–9 hours for ages 18–64 years; 7–8 hours for over 65 years). Cox regression models assessed associations between sleep parameters and mental health outcomes.
Results
During a median follow-up of 7.5 years, 1,646 participants developed depression, and 2,097 developed anxiety. Compared to irregular sleepers, regular sleepers had a 38% lower depression risk (hazard ratio [HR], 0.62; 95% confidence interval [CI], 0.52–0.73) and a 33% lower anxiety risk (HR, 0.67; 95%CI, 0.58–0.77). Participants with both irregular sleep and nonrecommended duration exhibited the highest risks (depression HR, 1.91; 95%CI, 1.55–2.35; anxiety HR, 1.61; 95%CI, 1.35–1.93). Notably, irregular sleepers who met duration guidelines still faced elevated risks (depression HR, 1.48; 95%CI, 1.18–1.86; anxiety HR, 1.35; 95%CI, 1.11–1.64).
Conclusions
Greater sleep regularity is independently associated with lower depression and anxiety risk regardless of sleep duration, suggesting that sleep–wake consistency should be considered in mental health promotion strategies alongside traditional sleep duration recommendations.
Nutrition intervention is an effective way to improve flesh qualities of fish. The effect of feed supplementation with glutamate (Glu) on flesh quality of gibel carp (Carassius gibelio) was investigated. In trial 1, the fish (initial weight: 37.49 ± 0.08 g) were fed two practical diets with 0 and 2% Glu supplementation. In trial 2, the fish (37.26 ± 0.04 g) were fed two purified diets with 0 and 3% Glu supplementation. The results after feeding trials showed that dietary Glu supplementation increased the hardness and springiness of muscle, whether using practical or purified diets. Glu-supplemented diets increased the thickness and density of myofibres and collagen content between myofibres. Furthermore, Glu promoted muscle protein deposition by regulating the IGF-1-AKT-mTOR signalling pathway, and enhanced the myofibre hypertrophy by upregulating genes related to myofibre growth and development (mef2a, mef2d, myod, myf5, mlc, tpi and pax7α). The protein deposition and myofibre hypertrophy in turn improved the flesh texture. In addition, IMP content in flesh increased when supplementing Glu whether to practical or to purified diet. Metabolomics confirmed that Glu promoted the deposition of muscle-flavoured substances and purine metabolic pathway most functioned, echoed by the upregulation of key genes (ampd, ppat and adsl) in purine metabolism. The sensory test also clarified that dietary Glu improved the flesh quality by enhancing the muscle texture and flavour. Conclusively, dietary Glu supplementation can improve the flesh quality in this fish, which can further support evidence from other studies more generally that improve flesh quality of cultured fish.
We present an experimental study on the effects of polymer additives on the turbulent/non-turbulent interface (TNTI) in a fully developed round water jet. The Reynolds number based on the jet diameter is fixed at $Re=7075$. The Weissenberg number $Wi$ ranges from 24 to 86. We employ time-resolved simultaneous particle image velocimetry and laser-induced fluorescence measurements to investigate the local entrainment and engulfment process along the TNTI in two regimes: entrainment transition and enhancement regimes. In polymer-laden jets, the TNTI fluctuates more intermittently in the radial direction and more ambient fluid can be engulfed into the turbulent region due to the augmented large scale motion. Though the contribution of engulfment to the total flux increases with $Wi$, engulfment is still not the major contribution to the entrainment in polymer-laden jets. We further show that the local entrainment velocity is increased in both regimes compared with the pure water jet, due to two contributions: polymer elastic stress and the more intermittent character of the TNTI. In the entrainment transition regime, we observe smaller fractal dimension and shorter length of TNTI compared with the Newtonian case, consistent with previous numerical simulations (Abreu et al. J. Fluid Mech. vol. 934, 2022, A36); whereas those in the enhancement regime remain largely unchanged. The difference between the two regimes results from the fact that the jet flow decays in the streamwise direction. In the entrainment transition regime, turbulence intensity is strong enough to significantly stretch the polymers, resulting in a smoother TNTI in the inertial range. However, in the entrainment enhancement regime, the polymer’s feedback is not strong enough to alter the fractal dimension due to the low elasticity. The above mentioned differences of entrainment velocity and TNTI in the entrainment reduction/transition and enhancement regimes also explain the reduced and enhanced spreading rate of the viscoelastic jet observed in previous numerical simulations and experiments (Guimarães et al. J. Fluid Mech. 2020,vol. 899, A11; Peng et al. Phys. Fluids, 2023, vol. 35, 045110).
Digital technology enables employees to communicate with each other via virtual platforms. Emoji, particularly smile emoji, has received significant attention in virtual communication research. Drawing upon expectancy violation theory, we propose that in digital communications with followers, leader smile emoji usage has a positive effect on follower satisfaction with leader through perceived leader intimacy. In addition, leader smile emoji usage has a negative effect on perceived leader effectiveness through decreased perception of leader power. We further propose that the effects of leader smile emoji usage hinge on follower power distance orientation such that the negative effects of leader smile emojis usage are more pronounced for followers with high versus low power distance orientation. An experiment and a field study supported our hypotheses. Our research sheds light on the benefits and potential pitfalls of smile emoji usage in leader–follower digital communication.
The dynamic model of the distributed propulsion vehicle faces significant challenges due to several factors. The primary difficulties arise from the strong coupling between multiple power units and aerodynamic rudder surfaces, the interaction between thrust and vehicle dynamics, and the complexity of the aerodynamic model, which includes high-dimensional and high-order variables. To address these challenges, wind tunnel tests are conducted to analyse the aerodynamic characteristics and identify variables affecting the aerodynamic coefficients. Subsequently, a deep neural network is employed to investigate the influence of the power system and aerodynamic rudder on the aerodynamic coefficients. Based on these findings, a multi-dynamic coupled aerodynamic model is developed. Furthermore, a control-oriented nonlinear dynamics model for the distributed propulsion vehicle is established, and a flight controller is designed. Finally, closed-loop simulations for the climb, descent and turn phases are performed, validating the effectiveness of the established model.
In sharp contrast to the Hardy space case, the algebraic properties of Toeplitz operators on the Bergman space are quite different and abnormally complicated. In this paper, we study the finite-rank problem for a class of operators consisting of all finite linear combinations of Toeplitz products with monomial symbols on the Bergman space of the unit disk. It turns out that such a problem is equivalent to the problem of when the corresponding finite linear combination of rational functions is zero. As an application, we consider the finite-rank problem for the commutator and semi-commutator of Toeplitz operators whose symbols are finite linear combinations of monomials. In particular, we construct many motivating examples in the theory of algebraic properties of Toeplitz operators.
Eotetranychus kankitus is an important pest on several agricultural crops, and its resistance to pesticides has promoted the exploration of biological control strategies. Beauveria bassiana and Neoseiulus barkeri have been identified as potential agents for suppressing spider mites. This study aimed to investigate the pathogenicity of B. bassiana on E. kankitus and its compatibility with N. barkeri. Results showed that among the five tested strains of B. bassiana, Bb025 exhibited the highest level of pathogenicity on E. kankitus. Higher application rates (1 × 108 conidia/mL) of Bb025 led to a higher mortality rate of E. kankitus (90.402%), but also resulted in a 15.036% mortality of N. barkeri. Furthermore, preference response tests indicated that both E. kankitus and N. barkeri actively avoided plants sprayed with Bb025 compared to the control group that was sprayed with Tween-80. In a no-choice test, we observed that N. barkeri actively attacked Bb025-treated E. kankitus with no adverse effect on its predatory capacities. Furthermore, N. barkeri laid more eggs when fed on Bb025-treated E. kankitus compared to Tween-80-treated E. kankitus, but the subsequent generation of surviving individuals fed on Bb025-treated E. kankitus was reduced. These findings demonstrate that the Bb025 strain of B. bassiana is highly virulent against E. kankitus while causing less harm to N. barkeri. Consequently, a promising strategy for controlling E. kankitus could involve the sequential utilisation of Bb025 and N. barkeri at appropriate intervals.
Broadband frequency-tripling pulses with high energy are attractive for scientific research, such as inertial confinement fusion, but are difficult to scale up. Third-harmonic generation via nonlinear frequency conversion, however, remains a trade-off between bandwidth and conversion efficiency. Based on gradient deuterium deuterated potassium dihydrogen phosphate (KDxH2-xPO4, DKDP) crystal, here we report the generation of frequency-tripling pulses by rapid adiabatic passage with a low-coherence laser driver facility. The efficiency dependence on the phase-matching angle in a Type-II configuration is studied. We attained an output at 352 nm with a bandwidth of 4.4 THz and an efficiency of 36%. These results, to the best of our knowledge, represent the first experimental demonstration of gradient deuterium DKDP crystal in obtaining frequency-tripling pulses. Our research paves a new way for developing high-efficiency, large-bandwidth frequency-tripling technology.
Why would a politically centralized state embark on the path of economic decentralization? This Element delves into the political origin of the puzzling economic decentralization in mainland China. The authors contend that the intra-elite conflicts between the authoritarian ruler and the ruling elites within the state prompted the ruler to pursue decentralization as a strategy to curb the influence wielded by the ruling elites. By examining the composition of the Chinese Communist Party's Central Committee, they find that the Cultural Revolution, fueled by elite conflicts, shifted the elite selectorate's composition from favoring central agencies to favoring local interests. Subsequent low turnover reinforced this shift, aligning elite incentives with decentralization policies and committing the Chinese leadership to a decentralized path in the 1980s. Additionally, Taiwan's economic liberalization under the Kuomintang's authoritarian rule provides further evidence of the link between ruling party elite composition and economic policy orientation.
We introduce a comprehensive data-driven framework aimed at enhancing the modeling of physical systems, employing inference techniques and machine-learning enhancements. As a demonstrative application, we pursue the modeling of cathodic electrophoretic deposition, commonly known as e-coating. Our approach illustrates a systematic procedure for enhancing physical models by identifying their limitations through inference on experimental data and introducing adaptable model enhancements to address these shortcomings. We begin by tackling the issue of model parameter identifiability, which reveals aspects of the model that require improvement. To address generalizability, we introduce modifications, which also enhance identifiability. However, these modifications do not fully capture essential experimental behaviors. To overcome this limitation, we incorporate interpretable yet flexible augmentations into the baseline model. These augmentations are parameterized by simple fully-connected neural networks, and we leverage machine-learning tools, particularly neural ordinary differential equations, to learn these augmentations. Our simulations demonstrate that the machine-learning-augmented model more accurately captures observed behaviors and improves predictive accuracy. Nevertheless, we contend that while the model updates offer superior performance and capture the relevant physics, we can reduce off-line computational costs by eliminating certain dynamics without compromising accuracy or interpretability in downstream predictions of quantities of interest, particularly film thickness predictions. The entire process outlined here provides a structured approach to leverage data-driven methods by helping us comprehend the root causes of model inaccuracies and by offering a principled method for enhancing model performance.
Zircon U-Pb geochronology, geochemistry and Hf isotope analysis of supracrustal rocks in the Anshan-Benxi area in the northeastern part of the North China Craton can help constrain their petrogenesis and tectonic background, providing evidence for a further investigation of the late Neoarchaean tectonic environment in the Anshan-Benxi area. The primary rock types observed among the supracrustal rocks in the Anshan-Benxi area comprise amphibolite, metamorphic rhyolite, metamorphic sandstone, chlorite schist, actinolite schist, among others. SHRIMP zircon U-Pb dating indicates that magmatic zircons from the amphibolite (GCN-1) formed at 2553 ± 18Ma. Similarly, LA-ICP-MS zircon U-Pb dating reveals that magmatic zircons from the metamorphic rhyolite (G2304-1) were formed at 2457 ± 35Ma. The peak age of the metamorphic sandstone is determined to be approximately 2500Ma, suggesting that the supracrustal rocks in the Anshan-Benxi area originated in the late Neoarchaean. The protoliths of sericite quartz schist and metamorphic rhyolite are identified as rhyolitic volcanic rocks, displaying a right-leaning distribution pattern of rare earth elements (REEs). On the other hand, actinolite schist, chlorite schist and amphibolite are classified as basaltic volcanic rocks, exhibiting a flat REE pattern with a weak negative Eu anomaly. The εHf(t) value of metamorphic rhyolite ranges between -1.19 and -1.47, with a two- stage depleted mantle model age of tDM2(Ma) = 2922–3132 Ma. The protolith magma of sericite quartz schist and metamorphic rhyolite originates from partial melting of 3.0Ga basaltic crust, while the source of actinolite schist, chlorite schist and amphibolite are mainly derived from the mantle. In summary, the findings suggest that plate already existed in the late Neoarchaean or earlier, with magmatism in the Anshan-Benxi area likely occurring within an arc tectonic environment linked to plate subduction.
This paper presents a classification of all simple Harish-Chandra modules for the $N=1$ Heisenberg–Virasoro superalgebra, which turn out to be highest weight modules, lowest weight modules, and evaluation modules of the intermediate series (all weight spaces are one dimensional). Moreover, a characterization of the tensor product of highest weight modules with intermediate series modules is obtained.
The large number of patients with ankle injuries and the high incidence make ankle rehabilitation an urgent health problem. However, there is a certain degree of difference between the motion of most ankle rehabilitation robots and the actual axis of the human ankle. To achieve more precise ankle joint rehabilitation training, this paper proposes a novel 3-PUU/R parallel ankle rehabilitation mechanism that integrates with the human ankle joint axis. Moreover, it provides comprehensive ankle joint motion necessary for effective rehabilitation. The mechanism has four degrees of freedom (DOFs), enabling plantarflexion/dorsiflexion, eversion/inversion, internal rotation/external rotation, and dorsal extension of the ankle joint. First, based on the DOFs of the human ankle joint and the variation pattern of the joint axes, a 3-PUU/R parallel ankle joint rehabilitation mechanism is designed. Based on the screw theory, the inverse kinematics inverse, complete Jacobian matrix, singular characteristics, and workspace analysis of the mechanism are conducted. Subsequently, the motion performance of the mechanism is analyzed based on the motion/force transmission indices and the constraint indices. Then, the performance of the mechanism is optimized according to human physiological characteristics, with the motion/force transmission ratio and workspace range as optimization objectives. Finally, a physical prototype of the proposed robot was developed, and experimental tests were performed to evaluate the above performance of the proposed robot. This study provides a good prospect for improving the comfort and safety of ankle joint rehabilitation from the perspective of human-machine axis matching.