中文摘要：

利用运动捕捉系统检测正常人下肢步行运动轨迹，得到了髋关节与膝关节的运动数据，建立了参数化的人体生理学步态信息数据库。基于人体下肢关节角数据，对用于步行康复训练的下肢步态矫形器做出了人体生理学步态规划。将规划的生理学步态在样机上进行试验，结果表明：步态矫形器能够按照规划的人体生理学步态带动患者行走，运动轨迹正确，步态连续，动作平稳。

英文摘要：

By detecting the walking motion trajectories of normal subjects＇ lower limbs using a motion capture system, the hip joint and knee joint angle data were obtained and a human physiological gait database was established. Based on the hip joint and knee joint angle data, the physiological gait planning for a lower limb gait orthosis, which was used for the gait rehabilitation, was made. The planned physiological gaits were tested on the experimental prototype. Experimental results show that the experimental prototype is able to guide the patient＇s legs to walk in a physiological gait pattern according to the planned physiological gait, and the gait trajectories are smooth and continuous.