Ankle　rehabilitation　robot　is　commonly　used　to　help　people　recover　from　ankle　sprain,　ligaments　stretched,　torn　or　muscle　numbness.　This　paper　proposes　a　novel　two　degree-of-freedom　ankle　rehabilitation　robot　according　to　the　patients＇　rehabilitation　and　therapeutic　purposes.　This　device　can　carry　out　dorsiflexion/plantarflexion　(D/P)　and　pronation/supination　(P/S)　movements　during　the　working　process.　The　angle　of　D/P　movement　is　from　-16.7　to　38.7　degrees　and　the　angle　of　P/S　movement　is　from　-29.94　to　19.94　degrees.　©　2010　START　Centre.