This paper concerns with the development of three nonmotorized individual lower limb joints rehabilitation mechanisms based on a four-bar linkage, and mechanical movement transmission from the motion of the patient’s upper limb. Initially, mathematical and computational models are built based on the desired angular motions for the hip, knee, and ankle. A prototype for the knee mechanism was constructed for initial experimental tests. The first test with wooden mannequin show that this prototype is lightweight, has an output movement compatible with the amplitudes, is easy to build and operate, being thus ready for clinical tests with healthy and impaired subjects.

中文翻译：

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下肢康复非机动机构的发展

本文关注基于四连杆机构的三种非机动个体下肢关节康复机制的开发，以及患者上肢运动的机械运动传递。最初，数学和计算模型是根据臀部、膝盖和脚踝的所需角运动建立的。为最初的实验测试构建了膝关节机构的原型。对木制人体模型的首次测试表明，该原型重量轻，输出运动与振幅兼容，易于构建和操作，因此可以为健康和受损受试者的临床测试做好准备。