Ankle　rehabilitation　exercise　therapy　mainly　includes　passive,　active,　and　resistance　rehabilitations.　Active　rehabilitation　exercise　is　highly　important　during　ankle　rehabilitation,　how　to　combine　the　ankle　and　the　rehabilitation　robot　has　elicited　considerable　research　attention.　This　paper　proposed　a　combination　strategy　for　the　ankle　and　the　rehabilitation　robot　based　on　a　3D　modeling　of　the　ankle　and　the　robot　developed　individually　based　on　simulation　software　(AnyBody).　By　integrating　the　3D　models　of　the　human　body　and　the　robot,　setting　constraints　between　the　pedal　of　the　robot　and　the　pelma　of　the　human　body　and　the　degrees　of　freedom　of　the　ankle　is　constrained　as　3,　a　man-machine　integration　model　for　ankle　active　rehabilitation　strategy　analysis　was　established.　Then,　human　muscle　characteristics　were　established　under　the　combination　of　different　variables　and　the　range　of　ankle　motion　were　carried　out　by　the　human　body　active　movement　with　ankle　plantar/dorsal　flexion　motion,　this　further　leads　to　strategies　for　ankle　active　rehabilitation.　Finally,　this　paper　designs　the　driving　function　for　the　robot　based　on　Fourier　function,　and　the　force　condition　for　the　ankle　movement　during　rehabilitation　exercise　was　evaluated　from　the　perspective　of　biomechanics.　This　study　would　provide　a　fundamental　reference　for　the　further　formulation　of　active　rehabilitation　strategies　and　the　control　of　rehabilitation　robots.　©　Springer　International　Publishing　AG　2017.