BACKGROUND: To solve the technical problems associated with the research on lower limb rehabilitation robot in terms of configuration design, human-machine compatibility, lightweight, and multimodel rehabilitation. OBJECTIVE: This study introduced a parallel wire driving lower limb rehabilitation robot. The robot featured modular design, reconfiguration, multimodel, and good human-machine compatibility. METHODS: The dynamics model of the wire driving module (WDM) was built based on which a multiple feedback loop controller (including a forward controller and a surplus force compensator) was designed. RESULTS: The experimental results showed that the WDM could load force accurately and reliably during the loading procedure. CONCLUSIONS: The machinery and control system of the WDM met the design request.