The invention discloses a pedal-type lower limb rehabilitation training robot capable of measuring plantar pressure distribution. The rehabilitation training robot is characterized in that a left pedal and a right pedal, which are driven by virtue of a motor and transmitted by virtue of a crank, are arranged on a fixed stand, so that the pair of the pedals, driven by the motor, can run in a rotating form as bicycle pedals; the pedals are provided with pedal bases and are connected to pedal supports by virtue of elastic beams; sensitive elements are arranged on the various elastic beams, so that sensing units are constituted; a mathematical model is established to calibrate the sensing units; and in accordance with tested force on the pedal base plates, strain detection signals of the sensitive elements on the various elastic beams are detected and obtained, and by virtue of the mathematical model, the distribution situation of the tested force on the pedal base plates is obtained. The rehabilitation training robot disclosed by the invention can provide basis for making a training scheme of the pedal-type lower limb rehabilitation training robot.