Limb disability is one of the serious problems and rehabilitation of lower limb requires an assistive force to the patient. A new design for stationary trainer for performing rehabilitation therapies for lower limb at the knee as well as hip joints in the sitting/lying positions is presented in this article. A passive orthosis (similar to an exoskeleton) is suggested in this system to provide a support to lower limb of the patient. The suggested mechanism also comprises of an active Cartesian manipulator based upon a spatial three parallel prismatic–revolute–revolute–revolute kinematic arrangement to perform the required limb therapeutic motions in the transverse/horizontal/lateral and sagittal/longitudinal plane. Numerically, the usefulness of the designed stationary trainer is confirmed using computer-based simulations along with a motion control scheme by performing various clinically suggested therapeutic motion tracking (passive range of motions) tasks. The article demonstrates the accomplishment of the control scheme for various training procedures of the lower limb.

肢体残疾是严重的问题之一，下肢的康复需要患者的辅助力量。本文介绍了一种新的固定训练器设计，用于对膝关节下肢和坐/卧位髋关节进行康复治疗。在该系统中建议使用被动矫形器（类似于外骨骼）来为患者的下肢提供支撑。建议的机制还包括一个基于空间三个平行棱柱-旋转-旋转-旋转运动学布置的主动笛卡尔机械手，以在横向/水平/横向和矢状/纵向平面上执行所需的肢体治疗运动。数值上，通过执行各种临床建议的治疗性运动跟踪（被动运动范围）任务，使用基于计算机的模拟以及运动控制方案来确认设计的固定训练器的有用性。文章展示了下肢各种训练程序控制方案的完成情况。