The traditional rehabilitation robot mechanism has many kinematics solutions. In addition, the terminal control is complicated, and there is only audio-visual feedback and weak feedback. It fails to achieve the best rehabilitation effect. An interactive rehabilitation system based on the self-decoupling mechanism is developed. It contains parallel connecting rod mechanism to realize the decoupling of translational and rotational degrees of freedom and the decoupling of force and moment. Three control modes are designed based on the patient′s terminal position, including the human-led mode, robot-led mode and safe stop mode, which can realize high-precision trajectory tracking, dynamic adjustment of auxiliary force and safe stop function. The force feedback technology is combined with virtual reality and rehabilitation medical technology to realize multi-sensory interaction between the patient and the system. Experimental results show that the system can accurately track the rehabilitation trajectory in the 500 mm × 350 mm working space. The joint motion trajectory error is less than 5 mm, and the system can provide feedback force with an error less than 1 N. And it can stop in the danger zone. The effectiveness of the rehabilitation training system is evaluated.