In order to improve the coordinated motion ability of the limbs of patients with hemiplegia, a new type of a sitting singleinput rehabilitation robot for coordinated movement of limbs rehabilitation training robot is developed. This robot can provide the synchronous and asynchronous cooperation training for hemiplegic patients under the active and passive training mode. Based on the 7R linkage metamorphic mechanism, a rehabilitation training mechanism is designed to realize the coordinated movement of the upper and lower limbs. By the transmission system，the crank initial phase of the training mechanism can be adjusted, which can realize the synchronous or asynchronous movement of the left and right sides of the limbs. The kinematics analysis of the training mechanism is conducted, and it is proved theoretically that the mechanism can achieve the coordination movement of the limbs. The upper and lower computer control system is exploited by intelligent mobile terminal and microcontroller. Finally, the experiments are carried out on the prototype of the robot. The test results are as follows: The robot can realize cooperative motion of upper and lower limbs that the shoulder joint of the subject can move between -16.9° and 15.1°, and the knee joint can move between 121.5° and 172.5°; The robot can achieve passive training of synchronous and asynchronous limbs with the speed limit (0~6 r/min) and active training of asynchronous limbs with plantar pressure range (61.82~227 N). Synchronous and asynchronous training modes can be switched automatically.