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With the deepening of the aging of our society and the frequent occurrence of various accidents and injuries, the number of patients with Lower Limb Dyskinesia continues to increase, and various kinds of auxiliary rehabilitation robot technology has developed rapidly. In order to help patients improve the lower limb movement function, a 4-DOF lower limb exoskeleton rehabilitation robot based on TI high-performance processor is designed. The structure of distributed control system is adopted, the configuration screen is used as the upper computer, the drive control module is used for each joint drive, and the robot control program is written in C++ language. Through the physical prototype experiment, the rehabilitation robot can assist patients to complete the basic functions of walking, standing up and sitting down with normal gait. It has the advantages of simple operation, light structure, good control accuracy and low cost.