  The kinematics recursive equation was built by using the modified D-H method
after the structure of rehabilitation lower extremity exoskeleton was analyzed.
The numerical algorithm of inverse kinematics was given too. Then the
three-dimensional simulation model of the exoskeleton robot was built using
MATLAB software, based on the model, 3D reappearance of a complete gait was
achieved. Finally, the reliability of numerical algorithm of inverse kinematics
was verified by the simulation result. All jobs above lay a foundation for
developing a three-dimensional simulation platform of exoskeleton robot.
