Seated and recumbent type lower limb rehabilitation robot

The present invention discloses a lower limb rehabilitation robot sit formula and the corresponding passive exercise control method. The robot includes a seat, a robot arm, and the main man-machine interface industrial tank. When using the robot-assisted rehabilitation patients passive exercise, the patient on the seat reclined, are both lower extremities of the patient and the robotic arm is fixed, set by the user according to the trajectory, the main industrial PC box according to the mechanical current position and desired arm trajectory generating speed instruction and position instruction signal, the control card by a corresponding movement of the joint drive motor and / encoder, controls the robot arm driving both lower extremities patient rehabilitation training. The present invention is a conventional operation and exercise therapy combination of organic, can effectively improve the rehabilitation of patients.