The invention belongs to the field of
rehabilitation medical devices, particularly relating to a
rehabilitation training
robot for lower limbs. The
robot consists of a support mechanism, an incline
system, a
lower limb training mechanism and a
control system. The
lower limb training mechanism comprises a hip joint mechanism and an
ankle joint mechanism; and the
ankle joint mechanism consists of a screw nut structure for realizing linear
reciprocating motion and a
crank four-bar mechanism for realizing
plantar flexion and dorsal flexure. The hip joint mechanism and the
ankle joint mechanism are combined to finish different training tasks by fully using the principle of the four-bar mechanism and drive the lower limbs of patients to generate the training method consisting of different training
modes, training tracks and exciting ways. The training
modes include active training, passive training,
resistance training and the like; the exciting ways for training the lower limbs include
hip joint flexion and extension exciting, foot reciprocating exciting, ankle joint
toe flexion and dorsal flexure exciting and combination exciting; the
robot moves flexibly, is stable and reliable, has simple appearance and is easy to be accepted by the patients.