Five-DOF series-parallel lower-limbs rehabilitation robot

The utility model discloses a five DOF (degree of freedom) series-parallel lower-limbs rehabilitation robot, which belongs to the technical field of medical rehabilitation machinery, realizes attitude rotations around an X shaft, a Y shaft, and a Z shaft, and axial moving along the Y shaft and the Z shaft, and really imitates multi-degree of freedom complicated movement of walking of human lower limbs and feet. The rehabilitation robot comprises a rack and two motion platforms, where the rack is formed by a base and a bracket in series connection. During the early period of rehabilitation, patients can keep balance with the help of the bracket, and passively perform rehabilitation trainings for lower limbs joint motion; and during the later period of rehabilitation, the patients can actively perform rehabilitation exercises under the action of the handles, such as walking. Therefore, the more effective and continuous rehabilitation exercises are provided for the patients. The rehabilitation robot has the advantages of complete function, simple structure, and convenience in operation, is suit for different training periods of different patients, and enables the patients whose low-limbs moving function is damaged to be subjected to the more comprehensive and continuous rehabilitation trainings.