The invention discloses an ankle joint active / passive training instrument, and relates to medical rehabilitation training instruments. The ankle joint active / passive training instrument comprises a base, a pedal assembly, a supporting shelf, a servo driver and a push rod driver, and a patient can be driven to conduct ankle joint driven rehabilitation training of multiple degrees of freedom like adduction / abduction, dorsiflexion / plantar flexion, and introversion / extroversion. When the patient has certain muscle force, the exercise strength of the patient is detected through a pressure sensor and a torque sensor arranged on the pedal assembly, and the patient conducts ankle joint driving rehabilitation training of multiple degrees of freedom through the force of himself / herself with assistance provided by the servo driver and the push rod driver. Meanwhile, three angle sensors, pressure sensors and torque sensors are arranged at three degrees of freedom where the angle joint moves, and the movement range and strength of the ankle joint of the patient can be measured; by connecting a computer, the servo motor and the push rod driver are controlled to make the pedal assembly move, andfoot movement tracks are displayed on the computer in real time; meanwhile, game interaction training can also be conducted, and the training effect is obviously improved.