Yes. Arthritis in any joint should be exercised primarily through stretching or "range of motion" exercises. For the ankle, i encourage patients to improve their range of motion by dorsi-flexing (toes towards you) and plantar-flexing (toes pointing away from you.) additionally, making clockwise and counter-clockwise circles with your toes also helps. Remember, "motion is lotion." always keep moving!
Stretching. Depending on the severity of your arthritis, a variety of exercises can be performed. Most of these focus on the up and down motion of the ankle. Taking a towel around the ball of your foot and pulling up towards your head, standing on the edge of a stair and dropping your heel as much as possible are some of the best exercises.