To solve the problem of the delay, nonlinearity and time-varying properties of PMA-actuated knee-joint rehabilitation training device, a self-learning control method based on fuzzy neural network is proposed in this paper. A self-learning controller was designed based on the combination of pid controller, feedforward controller, fuzzy neural network controller, and learning mechanism. It was applied to the isokinetic continuous passive motion control of the PMA-actuated knee-joint rehabilitation training device. The experiments proved that the self-learning controller has the properties of high control accuracy and unti-disturbance capability, comparing with pid controller. This control method provides the beneficial reference for improving the control performance of such system.