In order to lighten the burden of health care workers and help people with Lower limb insufficiency to do rehabilitation training, this paper designs a model named exoskeletons rehabilitation robot to simulate the human gait, including exoskeletons and scooter structure, and designs the driver module. Finally, this paper uses Workbench software to do the stress and strain analysis, which validates the reliability of the whole design. In order to lighten the burden of health care workers and help people with Lower limb insufficiency to do rehabilitation training, this paper designs a model named exoskeletons rehabilitation robot to simulate the human gait, including exoskeletons and scooter structures, and designs the driver module. Finally , this paper uses Workbench software to do the stress and strain analysis, which validates the reliability of the whole design.