The present invention relates to a rehabilitation robot and a tutorial learning method for the rehabilitation robot. The rehabilitation robot comprises a robotic device, a rehabilitation mode control unit, and a driving unit. The robotic device comprises at least a motor capable of controlling the joints of the robotic device. The rehabilitation mode control unit further comprises a tutorial learning module capable of enabling the rehabilitation robot to learn a rehabilitation operation of a physiotherapist in a tutorial manner as he/she is operating the rehabilitation robot while registering the rehabilitation operation as an operation mode of the same. When the rehabilitation robot is used for performing a therapeutic session on a patient and a tutorial learning mode is selected for the rehabilitation robot, it is required to have a physiotherapist operate the rehabilitation robot and the same time that the rehabilitation robot will register motor actuation parameters corresponding to the therapeutic session into the tutorial learning module. On the other hand, when an automatic rehabilitation mode is selected, the rehabilitation robot will access the motor actuation parameters registered in the tutorial learning module so as to reproduce the therapeutic session simulating the physiotherapist.