In this article, a new type of lower limb rehabilitation training robot is designed and related rehabilitation training programs are proposed. The robot system uses a bionic lower limb movement mechanism to drive the hip and ankle joints of the human body, and is combined with a treadmill-type vertical vibration training device to simulate human walking for lower limb rehabilitation training. The overall structure is modeled in three dimensions. In addition, the simplified link mechanism model is used to analyze the robot's motion process by an...
