In　order　to　obtain　kinematic　reference　trajectories　for　the　control　of　lower　limb　rehabilitation　robot　and　evaluation　of　patients　with　rehabilitation　effects,　Vicon　three-dimensional　motion　capturing　system　was　adopted　to　measure　the　three-dimensional　movement　information　of　seven　healthy　human　with　walking　on　the　ground　and　walking　on　the　treadmill　at　different　speeds(1km/h,　2km/h,　3km/h).　The　difference　between　walking　on　the　ground　and　walking　on　the　treadmill　at　same　velocity　was　analyzed.　Based　on　these　difference　and　Matlab　software,　threedimensional　joint　angle　data　was　fitted　for　specific　velocities　and　regression　model　was　created.　The　results　showed　that　there　are　significant　differences　in　joint　angle　of　hip　and　knee　for　the　sagittal　plane　(p＜　0.05),　while　no　significant　difference　was　found　for　ankle　in　the　sagittal　plane　(P＞　0.05)　and　hip　in　the　frontal　plane　(P＞　0.05),　Regression　models　can　express　change　trend　of　joint　angle　well,　the　results　of　experiment　and　fitting　provide　reference　for　the　control　of　lower　limb　rehabilitation　robot　and　evaluation　of　patients　with　rehabilitation　effects.