I just started rollerblading. I attempted it over 15 years ago and wasn't very good then. I started out VERY slowly, because I'm also afraid of falling and hurting myself. I've gone out twice and have rollerbladed just over 3 miles so far. My problem is that I don't know how to stop and I haven't fully learned to control myself. It's getting better and I think that in a few weeks I'll feel comfortable with it.
I would think that your ankles should be alright. Rollerblades cover your ankles and are tight. My suggestion would be to get some knee and wrist pads. Start out really slow on flat ground. As you get comfortable add a little bit more speed, but go at your own pace.
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