中文摘要：

针对老年人及下肢障碍者康复训练与代步问题，本文提出一种新的康复与代步外骨骼机器人．本文首先详细介绍了机器人各部分组成及机构设计方案，通过下肢外骨骼与轮椅的有机结合，有效保持或恢复老年人、脑卒中患者下肢运动能力的同时，为患者提供一种方便的代步工具；运用脚蹬车运动制订康复训练策略，可保持下肢康复训练轨迹固定，保证患者安全；提出主从式操作方法及多模态康复训练控制流程提高使用者参与感．最后通过仿真与实验验证了所提康复系统的可行性与设计的正确性．

英文摘要：

Towards the rehabilitation and training problems of older persons and lower limb disabilities, the paper proposes a new robot with lower limb exoskeleton for rehabilitation and walking assistance. The components and mechanical design of the robot are introduced in detail. Through the function combination of lower limb exoskeleton and wheelchair, the robot can help the users to maintain the lower limb movement effectively and provide them with a convenient tools for movement. The pedal-actuated motion training strategy can ensure the safety of users. The master-slave operational mode is put forward with multimodal rehabilitation training process control. Correctness and feasibility of the rehabilitation system are validated by computer simulation and experiment.