PURPOSE: A rehabilitation treatment apparatus using a walking assistant robot is provided to allow a user to walk correctly as much as the user intends and to perform rehabilitation treatment by electronically stimulating the corresponding location of a paralyzed leg with an electromyographic signal obtained from a normal leg. CONSTITUTION: A rehabilitation treatment apparatus using a walking assistant robot comprises: an electromyographic sensor which senses the electromyography signal of muscles of a normal leg； a pressure sensor which senses a stepping pressure by being installed on the sole of the normal leg； an electromyography-type fuzzy controller(170) which fuzzifies a membership function generated according to a fuzzy rule by using the electromyographic signal input from the electromyographic sensor； a pressure-type fuzzy controller(171) which fuzzifies a membership function generated according to a fuzzy rule by using a pressure signal input from the pressure sensor； a subtractor(172) which outputs an error value by subtracting the output phase； a location- and a speed-type fuzzy controller(173,174) which fuzzifies the location and the speed control by inputting the error； a weighted value synthesizer(175) which synthesizes and outputs the result of applying weighted value for a control input, which is output from the electromyography-type fuzzy controller, the pressure-type fuzzy controller, and the location- and speed-type fuzzy controller； a neural network controller(177) which controls the speed and the location value sensed from the first servo motor to be minimized； an FES (functional electrical stimulator,179) which supplies the signal to the paralyzed leg after the time for one step elapses； a delay unit(178) which delays the time for one step； and a second servo motor for the walking assistant robot mounted on the paralyzed leg. [Reference numerals] (150,250) Submotor； (170) Electromyography-type fuzzy controller； (171) Pressure-type fuzzy control
