Objective Based on ergonomics and biomechanics simulation technology, the biological evaluations of human muscles and the rehabilitation strategies of foot rehabilitation robot with adjustable swing were carried out and studied. Methods The human-robot coupling model of human body and foot rehabilitation robot with adjustable swing were established by using AnyBody software. Through kinematics simulation of the coupling model, the comparison between the simulation result and the theoretical calculation result confirmed reliability of the coupling model. The parameter study of AnyBody software was used to perform the biomechanical simulation of the verified coupling model. By regarding velocity and swing of the foot rehabilitation robot as variables, the muscle activity and muscle force under different combinations of variables were analyzed. ResultsDuring rehabilitation exercise, stretching performance of the foot related-muscles was effectively trained. The influence of different velocity and swing amplitude on muscles was different, and safety range of the velocity and swing adjustment was obtained. Conclusions The combined analysis of muscle activity and muscle force under different velocity and swing was achieved. The results have certain guiding significance on clinical application of foot rehabilitation robot and formulation of rehabilitation strategies in passive rehabilitation mode.