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This paper adopts parallel mechanism to replace the traditional unarmed or simple mechanical device to offer better rehabilitative training on human body ankle joint, which can medically meet the demands of proceeding various training of motor rehabilitation on the ankle joint with an excellent application prospect. The design of the control system adopts t ier to operate and control. It can meet the various training requirements of users such as slow, continuous and reciprocating motion, and it can also design personalized training program based on the users’ own condition. He open-EMC2 which makes it easy.