Abstract: Considering the achievement of the existing lower limb rehabilitation products, a sitting/horizontal lower limb rehabilitation robot with flexible joints was developed. A camera shooting instrumental analysis method was used to implement the gait analysis. And then, several procedures were carried out for the lower limb rehabilitation robot, including dynamics modeling, function analysis and simulation. The research results show that the lower limb rehabilitation robot can play a huge auxiliary role in the rehabilitation training for the stroke patients, spinal cord injury, paraplegia, and rewalking of fracture patients, and can make the patients move in a constant force and speed.