The form and the mechanism of energy transfer for lower limb rehabilitation robot are very important, which not only affect the structure of rehabilitation robot, but also involve patient’s safety. This study aimed to analyze different energy transfer methods for lower limb rehabilitation robot. Based on the analysis of lower extremity anatomy and gait, pros and cons of common-used energy transfer form and mechanism are introduced, respectively, such as rotary motor type, ball screws type, and pneumatic muscle type. Moreover, efficiency of energy transfer which is convenient to practical application for lower limb rehabilitation robot is emphasized as well as safety. Finally, future development trend of energy transfer for lower limb rehabilitation robot is discussed combining with the biggest demands in china. This pilot analysis would give some helps for the future design and practical application of lower limb rehabilitation robot.