Multi-mode knee joint rehabilitation manipulator

The multi-mode knee joint rehabilitation manipulator comprises two sets of double-connecting-rod mechanisms of the same structure and a driving mechanism, and the legs of a patient are fixed between the two sets of double-connecting-rod mechanisms; the driving mechanism is arranged on the bottom plate, the double-connecting-rod mechanism is formed by hinging a first connecting rod and a second connecting rod, the end of the second connecting rod is hinged to the driving mechanism, the end of the first connecting rod is connected with the base through the leg random-stopping device, and the two ends of the leg random-stopping device are hinged to the first connecting rod and the base respectively. During use, the device is horizontally placed, a patient sits and lies beside the device, ankle joints are located at the hinged position of the double-connecting-rod mechanism, and shanks are fixed to the first connecting rods; the leg rehabilitation device can well simulate the force applied by a doctor to the legs