Abstract: The present disclosure belongs to the technical field of rehabilitation medical devices, and in particular relates to a pose-adjustable rigid-flexible coupled waist rehabilitation robot. The robot comprises a fixed platform, a movable platform connected to the fixed platform, a lumbar vertebra support assembly mounted on the movable platform, and two support airbags symmetrically arranged at both sides of the lumbar vertebra support assembly. The lumbar vertebra support assembly comprises a plurality of bellow air bags arranged in parallel. By controlling the pressure in a plurality of bellow air bags arranged in parallel, the lumbar vertebra support assembly at the lumbar vertebra position can be adjusted to different curvatures to adapt to different patients, such that the lumbar vertebra support assembly can support the lumbar vertebra part of the patient in a perfectly fitting manner to guarantee the comfort in the rehabilitation training process.