Abstract: The lower limb rehabilitation training robots were divided into standing robots and sitting robots. Standing lower limb rehabilitation robots included three kinds of typical structures, which mainly support body weight by suspension, and partially by air bags. Sitting lower limb rehabilitation robots were divided into chair and bed types, they support body weight by chairs and beds. This article reviewed the development of products in the structures of the configuration, combined with some of the existing product and research, as well as the clinical application, .

Key words: lower limb, rehabilitation training robot, structure configuration, review