Robot-assisted　physical　therapy　can　encourage　a　subject＇s　voluntary　participation　to　achieve　rapid　motor　function　recovery.　To　enhance　the　subject＇s　cooperation,　and　training　safety　during　training　sessions,　we　develop　a　new　ankle　robotic　system　with　three　rehabilitation　training　strategies　based　on　an　admittance　controller,　namely,　patient-passive　compliance　exercise,　isotonic　exercise,　and　patient-active　exercise,　which　fully　consider　the　patient＇s　muscle　strength　level,　and　different　stages　of　recovery.　The　developed　parallel　two-UPS/RRR　ankle　rehabilitation　robot　is　actuated　by　two　servo　linear　actuators,　and　one　servo　motor,　and　has　three　rotational　degrees　of　freedom.　The　mechanism　is　simple,　and　ensures　that　the　rotation　center　of　the　ankle　joint　complex　from　different　patients　coincides　with　the　robot＇s　rotation　center.　All　three　strategies　are　based　on　the　admittance　controller,　and　its　derivatives,　and　the　controller＇s　output　is　obtained　based　on　proportional,　and　time-shifting　methods　according　to　the　continuous　measured　torque.　In　particular,　the　developed　two-UPS/RRR　ankle　robotic　system　covers　the　whole-stage　compliance　rehabilitation　training,　ensuring　the　safety　of　full-cycle　training　sessions.　Experiments　of　the　three　rehabilitation　training　strategies　were　carried　out　on　five　healthy　subjects,　with　the　results　showing　good　compliance,　and　trajectory　tracking　performance.