The paper presents a prototype of a rehabilitation robot for lower extremities. It is created on the basis of cylindrical kinematic model, equipped with two rigid arms, special handles and fixtures. It has five active degrees of freedom and is designed to repeat the trajectories generated by physiotherapist during the learning phase. Presented prototype of rehabilitation robot has the ability to replay different types of trained exercises such as: hip and knee flexion/extension, leg abduction/adduction. The protection system (including overload detection) implemented in the robot ensures safe working with patients.