The invention discloses a rehabilitation and walking exoskeleton robot based on master-slave control. The rehabilitation and walking exoskeleton robot based on master-slave control comprises a wheelchair, an exoskeleton, a central controller and a battery pack, wherein the wheelchair comprises a wheelchair frame, an operation panel, a wheelchair motor driver and a wheelchair motor; the exoskeleton comprises an exoskeleton framework, an exoskeleton motor driver, an exoskeleton motor and a sensor system; and the central controller is capable of receiving a function control signal from the operation panel and a feedback signal from the sensor system, setting a movement working mode and a rehabilitation working mode of the robot, and outputting control signals to the wheelchair and the exoskeleton, thus the motion of the exoskeleton and the movement of the wheelchair can be cooperatively controlled. The rehabilitation and walking exoskeleton robot based on master-slave control, which is disclosed by the invention, adequately considers the subjective motion intention of a user, and is high in functionality, simple to control, safe and reliable, and remarkable in rehabilitation effect.