To provide a bilateral position and force transmission device to be excellent in complementary ability between operation of a cylinder on the master side and operation of a cylinder on the slave side and reduce size, and to provide a rehabilitation robot using the transmission device.

In a bilateral position and force transmission device and a rehabilitation robot, a cylinder 1 on the master side and a cylinder 2 on the slave side are intercommunicated through tubes 3a and 3b, a pressure difference is detected by pressure sensors 4a and 4b, and based on the pressure difference, a pressure deviation signal is obtained by an abutment circuit 10d, a displacement signal for the cylinder 1 by a displacement sensor 5a is obtained, a displacement signal for the cylinder 2 is obtained by a displacement sensor 5b, and based on the displacement signals, a direct acting mechanism 6a is controlled by controllers 13a and 13b.