The publisher you are working with (e.g., Routledge) will be able to provide you with a "Permission Request" form. Once you have found out who (e.g., author, publisher) owns the copyright to the figure you can send the form to the owner along with a high resolution copy of the image. The copyright owner or person authorized to grant permission (e.g., a Director of Publications) to reproduce the image in another publication signs the form and returns it to you. I hope that my response is helpful.
Visit the web page of the published article. It will have a link to obtain rights to reuse. Clicking the link will take you to Rightlink which is the universal copyright clearance center. Copy right statement can be generated in less than a minute. However, it may be free or chargeable depending upon the agreement between publishers.