Objective Based on ergonomics and biomechanics simulation technology, the biological evaluations of muscles are carried out, and the rehabilitation strategies of the adjustable swing foot rehabilitation robot are studied. Method The human-robot coupling model of human and swing adjustable foot rehabilitation robot is established using AnyBody software, and the kinematic simulation of the coupling model is carried out. The comparison between the simulation results and the theoretical calculation results confirm the reliability of the coupling model. Using the parameter study of AnyBody software, the biomechanical simulation of the verified coupling model is carried out. Taking the velocity and swing of the foot rehabilitation robot as variables, the muscle activity and muscle force under different combinations of variables are analyzed. Results In the rehabilitation exercise, the stretching performance of foot related muscles is effectively trained, and the influence of different velocity and swing amplitude on muscle is different, and the safe range of velocity and swing adjustment is obtained. Conclusions The combined analysis of muscle activity and muscle force under different velocity and swing is implemented, and the rehabilitation strategies are discussed, which provides a reference for further research of the control of the foot rehabilitation robot.