Musculoskeletal models play an essential role in ankle rehabilitation research. The majority of the existing models have established the relationship between EMG and joint torque. However, EMG signal acquisition requires higher clinical conditions, such as sensitivity to external circumstances, motion artifacts and electrode position. To solve the nonlinear and time-varying nature of joint movement, a Functional Electrical Stimulation (FES) model was proposed in this study to simulate the whole process of ankle dorsiflexion. The model is combined with muscle contraction dynamics based on Hill model and ankle inverse dynamics to connect FES parameters, torques, and ankle angles. In addition, the extended Kalman filter (EKF) algorithm was applied to identify the unknown parameters of the model. Model validation experiment was performed by acquiring the actual data of healthy volunteers. Results showed that the root mean square error (RMSE) and normalized root mean square error (NRMSE) of this model were 11.93%±0.53% and 1.39°±0.26°, respectively, which means it can effectively predict the output variation of ankle joint angle while changing electrical stimulation parameters. Therefore, the proposed mode is essential for developing closed-loop feedback control of electrical stimulation and has the potential to help patients to conduct rehabilitation training.