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In this paper, we propose a new robot for lower limbs rehabilitation by using a parallel structure. The goal of this robot is not only to produce smooth and precise motions for ankle, knee, and hip, but also to support trajectory tracking. Its parallel configuration was based on the four-bar mechanism in order to have a more stable and robust structure. For the kinematic analysis, the length of one bar was considered variable. For the dynamic analysis, the Euler-Lagrange method was used to define the equations of motion. For the robot control, the robust generalized proportional integral (GPI) controller was proposed to guarantee safe rehabilitation movements. This parallel robot not only showed good results, but also showed various movement possibilities for lower limbs rehabilitation.