This paper designed a rehabilitative training robot for upper and lower limbs.The designs of mechanical structure and its control system are introduced.The DC-motor of the rehabilitative training robot was controlled by the SSU7301 MCU,and the C8051F320 MCU was used for the USB communication to the upper computer.These two parts were communicated through serial port.This robot could be used to train the upper and lower limbs on one robot.There were two modes of the training:the passive mode and the active mode,which can be automatically switched with different condition of patient's movement.The experiment results show that the robot is rationally designed and stably performed.