In the light of the current situation of the training track of rehabilitation training robot,a rehabilitation training robot with variable trajectory is developed for hemiplegia patients. Firstly,the normal gait pattern of human body is explored,combined with the characteristics of gait training trajectory of hemiplegic patients required,the design thought based on four bar mechanism realizing fixed gait trajectory is proposed,and the simulation verification is carried out. On this basis,owing to the failure of the four-bar rehabilitation training device to meet the personalized training needs for different patients in different rehabilitation phase,and the main factors affecting of the movement of the four-bar mechanism are analyzed. Through the comprehensive analysis,a rehabilitation training robot based on two DOF five-bar metamorphic mechanism is designed,and then a prototype production and clinical trials are carried out. The experimental results show that the proposed design of sitting rehabilitation robot is qualified to meet the demands of personalized training of hemiplegic patients.