The invention discloses a
leg mechanism for
lower limb rehabilitation training. The
leg mechanism comprises a hip joint mechanism, a
knee joint mechanism, an
ankle joint mechanism, a
thigh connecting rod mechanism, and a crus connecting rod mechanism. The hip joint mechanism, the
knee joint mechanism, and the
ankle joint mechanism are driven by corresponding joint motors and corresponding absolute
value code discs are installed for recording joint angles. The hip joint mechanism is provided with a
torque sensor; and the
knee joint mechanism is provided with a tension and
pressure sensor. Therefore, the joint running state monitoring during the training process can be realized and force-position-sensor-based
human body motion intention identification can be executed, thereby carrying out active
rehabilitation training. The hip joint mechanism, the knee joint mechanism, and the
ankle joint mechanism employ reducing mechanisms with large reduction ratios, so that the joint mechanisms have characteristics of
low speed and
high torque; and the characteristics are similar to the joint characteristics of the
lower limb of the
human body, so that the mechanism practicability is improved. The
thigh connecting rod mechanism and the crus connecting rod mechanism are provided with length hand-operated adjustment and value reading mechanisms, so that the length adjustment processes of the
thigh connecting rod mechanism and the crus connecting rod mechanism become convenient.