This　paper　proposes　a　novel　reconfigurable　ankle　rehabilitation　robot　based　on　parallel　mechanism.　The　proposed　robot　is　composed　of　the　linear　actuators,　reconfigurable　mechanism,　connecting　rods,　rockers　and　the　moving　platform.　Then,　the　kinematic　characteristics　analysis　for　the　proposed　robot　is　given.　The　function　relationships　between　the　moving　platform　and　the　actuators　are　obtained.　Furthermore,　the　verification　for　this　novel　reconfigurable　robot　is　completed　by　wireless　movement　capture　instrument,　and　the　results　show　that　the　prototype　ankle　rehabilitation　robot　can　meet　the　motion　needed　for　the　ankle　rehabilitation.　©　Springer　International　Publishing　Switzerland　2015.