Foot bottom multi-dimensional sensing device of lower limb rehabilitation robot

The invention discloses a foot bottom multi-dimensional sensing device of a lower limb rehabilitation robot. The technical scheme main points comprise that the device comprises a foot bottom plate anda bandage for wearing, the lower side of the foot bottom plate is provided with a connecting rod upper plate, a connecting rod lower plate and connecting rods rotationally connected to the corresponding sides of the front ends and the rear ends of the connecting rod upper plate and the connecting rod lower plate, the connecting rods, the connecting rod upper plate and the connecting rod lower plate form a parallel four-connecting-rod mechanism, and two friction force measuring mechanisms which respectively limit forward and backward movement of the connecting rod upper plate relative to the connecting rod lower plate are arranged between the connecting rod upper plate and the connecting rod lower plate. The friction force measuring mechanism plays a role in limiting forward and backward movement of the connecting