Germany, who thrashed Greece 4-2 in the quarterfinals on Friday, will face the winners between Italy and England.
Schweinsteiger revealed his ankle had not completely recovered after suffering a ligament tear while playing for Bayern Munich in February.
“To be honest, the ankle is worrying me,” Schweinsteiger was quoted as saying by Daily Mail. “It didn’t heal properly.
“But there isn’t time to rest. Hopefully we will have two more games and I have to struggle through. But then I will take time to get healthy,” he added.