Magneto-rheological force feedback type active-passive lower limb rehabilitation training device and control method

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-rheolo