Abstract: A footpad-type walking rehabilitation robot is designed to help the elderly and hemiplegic patients walking training based on the foot motion feature during human normal walking, which can simulate the motion attitudes of the ankle joint and metatarsophalangeal (MTP) joint during normal walking by using mechanical constraints. The fore-footpad rotation angle is planned and the trajectory of the constraint rail is obtained by analyzing the dorsiflexion process of MTP joint during normal walking. The time sequence of bilateral footpads motion during a complete training process is planned according to the complete process during human normal walking on level ground, and angular velocities of the cranks are planned based on the phase distribution relationship during normal walking. The kinematics simulation model of the walking rehabilitation robot is established to verify the feasibility of the motion planning, which show that the robot can simulate the normal gait and the motion attitude of the ankle joint and MTP joint during normal walking, and can meet the requirements of walking rehabilitation training.