Seated horizontal type lower limb rehabilitation robot

The present invention discloses a type sit lower limb rehabilitation training robot and the appropriate power control method. The robot includes a seat, a robot arm, man-machine interface, the main industrial boxes, hand switch electrical stimulation, electrical stimulation electrode sheet, industrial functional electrical stimulation and functional electrical stimulation box instrument. When the auxiliary power train patients, according to clinical need, setting the end of the robot trajectory, the main industrial tank kinematics host through reverse trajectory of each joint, the control card by a corresponding movement of the joint drive motor / encoder, patient-controlled robot arm to drive bilateral lower extremity rehabilitation training, while also applying electrical stimulation pulses to the major muscle groups of the lower limbs of patients, and timing control of electrical stimulation pulses according to the trajectory of the end, help to complete the training. The present invention will be traditional physical therapy, occupational therapy, exercise therapy combination of organic, can effectively improve the rehabilitation of patients, and the desire to enhance the patient's active participation.