A walking training robot is designed to assist the rehabilitation training of patients with lower limb motor dysfunction caused by aging and disease. According to the functional requirements and main performance indicators of the robot, the overall structure of the robot, the composition of the control system and the robot-assisted walking training process are designed; Gait assessment was carried out from three aspects: lower limb motion perception, gait parameter extraction and gait evaluation. The experimental results show that the robot can sense the patient's lower limb movement in real time, extract the patient's gait parameters and reflect the patient's abnormal gait according to the gait parameters.