This paper addresses the working principal of a sitting/lying type passive lower limb rehabilitation robot (LLRR) where patients legs are connected with a passive serial manipulator(orthoses) which consists of three rotary joints serially connected in a plane (RRR), with an active feedback, driven by a three degrees of freedom (DOF) parallel manipulator looks like a symbol The Lambda. The kinematics of the proposed rehabilitation robot has been presented and discussed. Performance analysis of the proposed robot for basic therapeutic exercises has been analyzed on a virtual prototype with the help of multibody dynamic package (namely MSC ADAMS™) and discussed. © 2015, Indian Institute of Technology, IIT. All rights reserved.

Jayant Kumar  Mohanta

Department of Mechanical Engineering

IIT Jodhpur

C. Saxena

G. Gupta

S. Mohan

&ldquo;IIT Jodhpur is committed to impart quality education to facilitate the creation of qualified, competent and responsible human resources to meet the emerging technological challenges of the world. It is working towards creating an equitable learning platform that is positive, accessible and effective in the face of the modern societal and scientific advancements.

Flexibility in curriculum, in all its academic programs, encompassing elements of teaching, research, creativity, innovation and entrepreneurship is the most unique feature of IIT Jodhpur. The Department of Science and Technology (DST), under the National Mission on Cyber Physical Systems, has identified IIT Jodhpur as a Technology &amp; Innovation Hub in the area of Augmented Reality and Virtual Reality. The institute has also been nominated as the coordinator for the Jodhpur City and Knowledge Cluster by the Office of Principal Scientific Adviser, Government of India.

The sprawling 852-acre IIT Jodhpur campus is a majestic tribute to the deep-rooted diverse cultural heritage of the region. The campus is an architectural masterpiece, which is slated to become an international exemplar of sustainability with net-zero energy, and advanced water and waste management strategies.&rdquo;

Journal	2nd International and 17th National Conference on Machines and Mechanisms, iNaCoMM 2015
Publisher	Indian Institute of Technology, IIT, Kanpur