Result:Unaffected side of hemiplegic patient and normal lower limb were notable different in time parameters, space parameters and knee joint angle(P<0.01).

结果：患者的健侧下肢与正常人的两下肢在时间参数、空间参数、膝关节角度等方面均存在显著差异（P<0.01）。

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Based on the hip joint and knee joint Angle data, the physiological gait planning for a lower limb gait orthosis, which was used for the gait rehabilitation, was made.

基于人体下肢关节角数据，对用于步行康复训练的下肢步态矫形器做出了人体生理学步态规划。

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