A　2-UPS/RRR　parallel　ankle　rehabilitation　robot　was　proposed　for　ankle　dysfunction　patients　to　assist　the　ankle　joint　during　plantarflexion/dorsiflexion,　inversion/eversion　and　adduction/abduction　rehabilitation　training.　The　ankle　rehabilitation　robot　system　contains　mechanical　body,　driving　motor,　encoder　and　force/torque　sensor,　software　and　hardware　of　host　computer　and　slave　computer,　and　possesses　the　functions　of　dynamic　information　detection　and　active/passive　rehabilitation　training.　According　to　the　kinematic　model　of　the　ankle　rehabilitation　robot,　the　mapping　relationship　between　the　actuator　drive　speed　and　the　angular　velocity　was　obtained.　Based　on　the　ankle　strength　level　and　training　requirements　of　the　patients,　the　rehabilitation　trajectory　was　planned　and　the　passive　training　was　performed.　The　ankle　motion　intention　of　patients　was　recognized　based　on　the　information　of　force/torque　sensors.　The　rehabilitation　robot　was　controlled　by　the　motion　intention　and　the　active　rehabilitation　training　was　carried　out.　Furthermore,　eight　healthy　subjects　were　enrolled　to　participate　in　the　active/passive　training　experiments　for　three　different　movement　modes.　The　results　show　that　the　ankle　rehabilitation　robot　possesses　a　compatible　rehabilitation　strategy　and　favorable　movement　stability.　©　2019,　Central　South　University　Press.　All　right　reserved.