  Stationary robotic trainers are lower limb rehab robots which often
incorporate an exoskeleton attached to a stationary base. The issue observed in
the stationery trainers for simultaneous knee and ankle-foot complex joints is
that they restrict the natural motion of ankle-foot in the rehab trainings due
to the insufficient Degrees of Freedom (DOFs) of these trainers. A new
stationary knee-ankle-foot rehab robot with all necessary DOFs is developed
here. A typical rehab training is first implemented in simulation, and then
tested on a healthy subject. Results show that the proposed system functions
naturally and meets the requirements of the desired rehab training.
