The invention relates to a flexible ankle rehabilitation mechanism based on human body self-driving and association motion. The mechanism comprises a base, a left foot fixator and a right foot fixator, the left foot fixator and the right foot fixator are arranged on the base, and rotation motion mechanisms are connected between the left foot fixator and the base as well as between the right foot fixator and the base; each rotation motion mechanism can rotate in the X, Y and Z axes, the two rotation motion mechanisms are connected through an association mechanism, an ankle which needs rehabilitation is driven through a healthy ankle, it is guaranteed that the same motion can be achieved at the left and right sides, the ankle which needs rehabilitation is driven through the healthy ankle ofa patient, and the action of the healthy ankle is completely reproduced. The patient can select different rehabilitation actions and action magnitude according to the self rehabilitation degree, thenflexible rehabilitation is achieved, and secondary harm does not exist; through a pure mechanical structure, the rehabilitation action of the ankle is effectively achieved so as to achieve the effectof helping rehabilitation of the patient, the mechanism is greatly simplified, and the mechanism is convenient to install and maintain and low in cost.