Abstract: Man-machine integration is the hotspot of research and innovation in the field of rehabilitation robots, and digital twins is an important technical means to achieve man-machine integration. Taking the rehabilitation robot developed by our research group as the object, a method of using Unity3D platform to receive sensor data and drive the digital twin model in real time was proposed. According to the physical parameters of the lower limb structure of the robot, the physical model was established in the SolidWorks software, which was imported into the Unity3D platform to bind the matching motion model to generate a twin model. The connection between the lower limb structure and the twin model was established by the sensor, and a real-time data-driven script was created in the platform using the flow design of the loop body, which sent and received the code in real time and updated the location parameters to achieve the purpose of real-time data-driven, and the real-time performance and accuracy of this method were verified. The results show that the actual range of motion of the knee joint of the lower limb structure is basically the same as that predicted by the twin model, and the peak-weighted average time difference between the two is 134.26 ms within 6 cycles.The accuracy and real-time performance of this method are good.The twin model established in this paper can accurately express the motion mechanism of the solid, and the model has good real-time performance.