Dexterity has significant influence on studies on rehabilitation robot. By researching the dexterity of lower limbs, the paper aimed at improving design mechanism, optimizing control and providing a reference for designs related to rehabilitation robot. Based on anatomy of human lower limbs, this paper not only studies its structure and extends conventional three-dimensional method to six-dimensional approach by virtue of spinor theory, but also builds up kinetics analysis model and analyzes manipulability and dexterity of lower limbs. With the help of experimental platform (powered RGO), feasibility of the foregoing analyses is verified. It is of much feasibility to analyze and evaluate the dexterity of human lower limbs. The experimental platform proves that the new method is useful for design of rehabilitation devices. In addition, there are some best motion points (BMPs) in human motion which is very helpful for construction of human analysis model and the design of such rehabilitation devices.
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