The invention relates to a traditional Chinese medical massage robot, in particular to a traditional Chinese medical massage robot for treating middle and old aged retrograde lumbocrural pain, which comprises a massage regulating platform, mechanism arms, massage hands, a bed body, moving caster wheels and a robot control system. The robot is characterized in that: the mechanical arms comprise waist parts, shoulder parts, upper arms, fore arms and wrist parts; the massage hands comprise palms, thumbs and row fingers; the wrist parts of the mechanical arms are connected with massage hands; the two mechanical arms and the massage hands can work synchronously and cooperatively; with the cooperation with related motors of the mechanical arms and the massage hands, the skill actions such as 'finger kneading', 'finger pressing', 'patting', 'rolling', 'palm kneading', 'palm pressing', 'palm rubbing', 'pinching' and 'tapping' can be realized; and thus, the robot instead of a doctor can massage people with middle and old aged retrograde lumbocrural pain according to the treatment scheme and demonstrated acupuncture points made by the doctor.