With the increasing yearly of patients with lower limb movement disorder，a lower limb rehabilitation robot with micro movement feedback motion control has been designed．According to the requirements of lower limb rehabilitation training，the whole mechanical structure had been designed with the analysis of kinematics and dynamics．Meanwhile，the strategy of micro movement feedback motion control was researched，using the real time feedback of micro movement from the initiative motion consciousness of patients to participate in motion control. This motion control method further improves the rehabilitation effect of lower limb.