Airming at the lack of domestic rehabilitation equipment and inadequate adaptability to children's leg shapes, a bench-mounted exoskeleton robot of lower limb rehabilitation for children with cerebral palsy was designed. Cerebral palsy, as a common pediatric condition, often leads to gait abnormalities, such as "crouch gait". To address this issue, a rehabilitation robot composed of an exoskeleton robot and a walker cart was designed. The system included four active degrees of freedom and features adjustable angles and telescopic structures to accommodate various children's leg shapes. The control system adopted a master-slave distributed architecture and incorporated the kernelized movement primitive （KMP） algorithm to achieve personalized trajectory matching and adaptive gait planning. Experimental results indicate that the mechanical structure and control system of the rehabilitation device are reliable, exhibit excellent trajectory tracking capabilities, and effectively enhance the gait stability of children with cerebral palsy.