Aiming at the external structure as well as the motion problems of today's lower limb rehabilitation ex-oskeleton robot,a wearable lower limb exoskeleton rehabilitation robot is designed by using Solidworks,which can realize the patients'lower limb rehabilitation training and restoration of body functions after surgery.Based on the biomechanical structure of the human lower limb,its joints and links correspond to those of the human body,a kinematic model of the human lower limb is designed based on this foundation,and the motion model of the ex-oskeleton mechanism is analyzed using the D-H parametric method,and the kinematic analysis as well as the workspace simulation simulation is carried out through the Matlab Robotics Toolbox,which further verifies the fea-sibility of the rehabilitation training.
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