To tackle the issue of real-time coincidence mismatch between the human ankle center-of-rotation (H-CoR) and the ankle rehabilitation robot center-of-rotation (R-CoR) in current ankle rehabilitation robots (ARRs), a research endeavor focused on a hybrid human–machine compatible ankle rehabilitation robot (HMCARR) is undertaken. Firstly, a hybrid ARR composed of a 2-SPS/RRR parallel mechanism and a linear Delta mechanism is proposed. Secondly, the degrees of freedom and kinematics of the proposed hybrid ARR are analyzed to determine whether it meets the degrees of freedom and kinematic independence requirement in the HMCARR's mechanical design principles. To further validate the design, the position workspace of this hybrid ARR was evaluated utilizing the boundary search approach. The results are then compared to the natural range of motion of the H-CoR, verifying the compliance with the HMCARR's mechanical design principles pertaining to position workspace specifications. This comprehensive analysis underscores that the proposed hybrid ARR aligns seamlessly with the HMCARR's design principles, and can achieve the crucial objective of real-time coincidence between the H-CoR and R-CoR, thereby enhancing the effectiveness and comfort of ankle rehabilitation procedures.