The invention discloses a
magneto-rheological force feedback type active-passive
lower limb rehabilitation training device and a control method. The
magneto-rheological force feedback type active-passive
lower limb rehabilitation training device comprises a left
lower limb device and a
right lower limb device, wherein the left lower limb device and the
right lower limb device are of mirror symmetry structures, the left lower limb device comprises a
thigh mechanism, a
knee joint mechanism and a shank supporting mechanism, and the
knee joint mechanism comprises a rotary
magneto-rheological
damper and a
knee joint driving mechanism. When passive lower limb
rehabilitation training is performed, a first spiral push rod device, the knee joint driving mechanism and a second spiral push rod deviceare switched on and respectively drive
thigh hip joints, knee joints and
ankle joints of the
human body to perform
passive movements. When active lower limb
rehabilitation training is performed, a first linear magneto-rheological
damper, a rotary magneto-rheological
damper and a second linear magneto-rheological damper are switched on and drive
thigh hip joints, knee joints and
ankle joints of the
human body to perform active movements to increase resistance. The magneto-rheological force feedback type active-passive lower limb
rehabilitation training device meets the requirement that a rehabilitation trained person performs active-passive
rehabilitation training of two legs simultaneously, and a rehabilitation period is shortened.