Objective:The effect of ankle rehabilitation robot on joint movement of hemiplegic patients was studied and quantitatively evaluated.Methods 90 hemiplegic patients with lower limb dysfunction treated in our hospital from April 2017 to March 2019 were selected as subjects. The patients were randomly divided into two groups: control group (n = 45) and observation group (n = 45). The patients in the two groups received language training, physiotherapy, exercise therapy, spa, occupational therapy, massage and other comprehensive rehabilitation treatment, on the basis of which the observation group received the auxiliary intervention of ankle rehabilitation robot. The soft tissue compliance of the patients was evaluated by ankle metatarsal flexion moment before and after treatment, the metatarsal flexor tension was evaluated by modified Tardieu scale, and the clinical effect was evaluated by ankle active ankle dorsiflexion.Results After treatment, the ankle flexion angles (0 °, 10 °, 20 °, 30 °) in the two groups were significantly lower than those in the control group (P < 0.05). Results compared with before treatment, the ankle flexion angles (0 °, 10 °, 20 °, 30 °) in the two groups were significantly lower than those in the control group (P < 0.05). After treatment, the angle of R1 and R2 measured by modified Tardieu scale of ankle plantar flexor group increased significantly, and the difference of R2-R1 decreased significantly (P < 0. 05). The improvement degree of the observation group was significantly better than that of the control group (P < 0.05). After treatment, the active ankle extension activity of the two groups was significantly higher than that before treatment (P < 0.05), and the effective rate of the observation group was significantly higher than that of the observation group (P < 0.05).Conclusion Auxiliary intervention with ankle rehabilitation robot system can effectively improve the compliance of ankle soft tissue in spastic hemiplegia, reduce the contracture of metatarsal flexor muscle and improve the disturbance of joint movement in a short time. At the same time, the degree of coordination and acceptance of patients and their families is high, which is an effective means to improve the therapeutic effect.