The method involves detecting patient target movement direction by an ankle joint rehabilitation device. An angle of the ankle joint rehabilitation device is adjusted according to pulling force of patients in an ankle joint rehabilitation process. Exercise speed of the ankle- joint rehabilitation device is adjusted based on a passive rehabilitation exercise trajectory opposite force. Patient plantar flexion and dorsiflexion motion is performed by using the ankle joint rehabilitation device to form a passive rehabilitation movement track. A passive auxiliary rehabilitation process is performed based on tremor motion and stretching motion at maximum position.