下肢康复训练机器人主要分为站立式和坐卧式两种。站立式下肢康复机器人包括3 种典型结构，主要采用悬吊式减重，个别采用气囊式减重；坐卧式下肢康复机器人分为坐椅式和卧床式，主要通过座椅或床来减重。本文主要针对两者的结构构型，结合国内外现有的一些产品和研究以及临床应用，从经典产品到如今产品的发展进行综述。

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, .