LOWER EXTREMITY EXOSKELETON ROBOT FOR CORRECTING GAIT, AND SENSING METHOD THEREFOR

A lower extremity exoskeleton robot for correcting the gait, comprising: a hip joint mechanism (1), a left leg mechanism (4), a right leg mechanism (5), a first connection mechanism (2), and a secondconnection mechanism (3). The hip joint mechanism (1) is located between the left leg mechanism (4) and the right leg mechanism (5); both ends of the hip joint mechanism (1) are correspondingly connected to the first connection mechanism (2) and the second connection mechanism (3), respectively; one end of the hip joint mechanism (1) is detachably connected to the left leg mechanism (4) by means of the first connection mechanism (2); the other end of the hip joint mechanism (1) is detachably connected to the right leg mechanism (5) by means of the second connection mechanism (3). 本发明涉及一种用于矫正步态的下肢外骨骼机器人，其包括：髋关节机构(1)、左腿机构(4)、右腿机构(5)、第一连接机构(2)和第二连接机构(3)；所述髋关节机构(1)位于左腿机构(4)和右腿机构(5)之间，髋关节机构(1)的两端分别对应的连接第一连接机构(2)和第二连接机构(3)，且通过第一连接机构(2)将髋关节机构(1)的一端与左腿机构(4)可拆卸地连接，通过第二连接机构(3)将髋关节机构(1)的另一端与右腿机构(5)可拆卸地连接。