Abstract: The impedance control theory is applied to the walking rehabilitation robot system,and the location-based impedance control model is used to design system controller.Impedance model based gait trajectory adaption algorithm is proposed,and the system error is analyzed.SolidWorks,Matlab and Adams are integrated as a united simulation platform for virtual prototype of the robot to develop the experiment of active training,and the experiments with healthy subjects are implemented on physical prototype.The results show that the robot can constantly adjust its gait trajectory according to human-machine interaction force to meet the patients' gait request,and the adaptation level of gait and the training flexibility can be improved by adjusting the impedance parameters.The controller serves the purpose that patients can participate in rehabilitation training actively.