In　order　to　make　the　designed　ankle　robotic　system　simpler,　practical,　and　clinically　oriented,　we　developed　a　novel　R　-　2UPS/RR　ankle　rehabilitation　robot　with　a　variety　of　training　functions　covering　all　the　required　ranges　of　motion　of　the　ankle　joint　complex　(AJC),　where　U,　P,　S,　and　R　denote　universal,　prismatic,　spherical,　and　revolute　joints,　respectively,　and　the　underlined　letter　denotes　the　actuated　joint.　The　robot　was　designed　with　three　degrees　of　freedom　(DOFs),　with　a　series　R　mechanism　and　a　2UPS/RR　parallel　mechanism.　The　main　advantage　is　that　the　height　of　the　robot　is　very　low,　which　is　convenient　for　clinical　use　by　patients.　At　first,　the　mechanism　design　and　inverse　solution　of　positions　were　introduced　in　detail.　Then,　the　patient-passive　exercise　based　on　the　predefined　trajectory　tracking　and　patient-active　exercise　based　on　the　spring　model　were　developed　to　satisfy　different　rehabilitation　stages.　Finally,　experiments　with　healthy　subjects　were　conducted　to　verify　the　effectiveness　of　the　developed　patient-passive　and　patient-active　exercises　of　the　developed　ankle　rehabilitation　robot,　with　results　compared　with　the　existing　ankle　robotic　system　showing　good　trajectory　tracking　performance　and　interactive　performance.