In this paper, a seven-bar mechanism gait training robot was introduced. The core mechanism of the robot is designed as two sets of seven bar mechanisms with two degrees of freedom. An appropriate reference system is established and the model of the equipment is designed. The kinematics of the mechanism is analyzed, the conditions for determining the motion of the mechanism are analyzed. Subsequently, standard algorithm was used to optimize the end trajectory of the linkage mechanism. According to the results obtained and the principles of human factors engineering, the motion characteristics of the robot were analyzed using Adams software. The simulation results show that the proposed seven bar mechanism gait training robot has a terminal trajectory close to the walking trajectory of the human ankle joint, and can complete gait assistance training tasks.