A method includes (a) preparing a rehabilitation robot including at least two joint portions, body wearing portions connected by the joint portions, actuators configured to rotate the body wearing portions about the joint portions, sensor modules configured to measure joint torque generated by an external force applied by an operator or a patient, and a controller configured to control operation of the actuators; (b) applying, by the operator, an external force to the robot to move the robot to a desired posture; (c) collectively storing, in the controller through an external interface, angle values measured at the joint portions in the set posture; (d) repeating steps (b) and (c) to store angle values at two or more different postures; (e) automatically generating a motion profile for a linking operation between the stored postures; and (f) performing a rehabilitation operation by operating the rehabilitation robot according to the generated motion profile.