Abstract: Described are a gait rehabilitation robot and gait rehabilitation robot and training method thereof, the gait rehabilitation robot including: a pair of footplates; a pair of footplate supports; a pair of gait actuators; a controller; and a memory, wherein the controller receives at least one of a state value and a control command value relating to the corresponding motor from each gait actuator under a load condition, and calculates anteroposterior forces exerted on each of the footplates by the corresponding foot during the gait training based, for each gait actuator, on a difference between at least one of the received state value and control command value and the corresponding reference value stored in the memory for a present gait trajectory and speed. Thus, a gait status can be determined based on the difference between the anteroposterior forces exerted on each footplate under no-load and load conditions.