The invention belongs to medical instruments and relates to an auxiliary instrument and a method for early rehabilitation training of a palsied patient, wherein the inner part of an air bag holder is provided with more than three air bags which are manually air-inflated, pressurized and depressurized; the air bags are communicated by air-inflating catheters and are bonded on the surface of an inner cylinder of a cylindrical bearing ring; and a rotary ring drives the bearing ring and the air bags to do rotary movement around a rotary shaft and vertically to the axis of the rotary ring. The method comprises the following steps: when carrying out rehabilitation training, firstly, data acquisition is carried out, a rehabilitation doctor holds the affected-side limb of the patient by hand to carry out rehabilitation movement so as to form a set of complete rehabilitation training action program; after being acquired completely, the data is transmitted to a computer for data processing; thedata of rehabilitation training movement after being processed by the computer is transmitted to an industrial robot of a rehabilitation training room, and the industrial robot converts the coordinate representation of movement data by a rehabilitation training bed into coordinate representation of the movement data by the industrial robot; and the robot holds the waist part or the ankle part of the patient by the air bag holder, and carries out reciprocating training according to the requirements of the rehabilitation training movement data till the fixed time of one-time training is up.