First, when the program is started, position control is conducted so that the target angle is reached. The position control is continued as it is. The angle is maintained for the set time if the target angle is reached. It is set to switch to force control unless it reaches the target angle even after five seconds have elapsed. In the force control section, pressure is exerted so that a force added by 10% of the force applied at the time of position control is applied, which imitates a physical therapist's action of adding a little force when the ankle becomes stuck. The rehabilitation system realizes both position control and force control by PID control. Therefore, we performed a control experiment to ascertain the parameters of P, I, and D and to verify the switching control. We restricted the angle using the stopper on the ankle rehabilitation device and reproduced the case in which it did not reach the target angle. In the experiment conducted this time, to make it easy to confirm the difference between the angle limitation and the non-limitation time, the target angle in the position control was set as -45 deg to +20 deg; the angle was restricted at the 0-deg position. Additionally, it was set to operate 1 s after the start of measurement. We present results obtained with the unrestricted angle in Figure 6. The result obtained when the angle is restricted is shown in Figure 7.