With　the　aggravation　of　aging,　a　series　of　ankle　injuries,　including　muscle　weakness　symptoms,　caused　by　stroke　or　other　reasons　have　made　the　problem　of　ankle　rehabilitation　increasingly　prominent.　Muscle　strength　training　is　one　of　the　main　rehabilitation　methods　for　the　ankle　joint　complex　(AJC).　Based　on　the　current　incomplete　development　of　muscle　strength　training　modes　for　all　forms　of　ankle　movement,　this　study　developed　six　muscle　strength　training　modes　for　the　human　ankle　on　our　parallel　ankle　rehabilitation　robot,　namely　continuous　passive　motion　(CPM),　isotonic　exercise,　isometric　exercise,　isokinetic　exercise,　centripetal　exercise　and　centrifugal　exercise,　based　on　position　inverse　solution　of　the　robot　combining　with　the　admittance　control　or　position　control.　The　dorsiflexion　(DO)　movement　was　used　as　an　example　to　analyze　the　training　effect　of　each　training　mode,　with　the　results　showing　good　function　performance　of　the　developed　ankle　muscle　strength　training　methods.　©　2023,　The　Author(s),　under　exclusive　license　to　Springer　Nature　Singapore　Pte　Ltd.