In order to meet the needs of rehabilitation training equipment for patients with lower limb motor dysfunction, a lower limb training robot is designed to assist patients in autonomous rehabilitation. Based on the theory of ergonomics and realistic factors, a 3D structural model of the rehabilitation robot is designed, and a human walking intention recognition system is designed according to the motion characteristics of the human body, and a motion control scheme based on a multi-sensor system is proposed by analyzing the motion characteristics of the robot. The experimental prototype of the rehabilitation robot is built, and the control effect of the robot is tested. The experimental results show that the structural design and control scheme of the robot are correct and feasible.