A DEVICE ASSISTING LOWER LIMB FLEXION AND EXTENSION REHABILITATION TRAINING AND ITS CONTROL METHOD

The invention relates to the technical field of rehabilitation training devices, in particular to a device for assisting lower limb flexion and extension rehabilitation training and a control method thereof.The device is provided with a base, a seat and two lower limb rehabilitation training mechanisms, and each lower limb rehabilitation training mechanism comprises a lower limb exoskeleton, a driving motor, a first transmission mechanism, a second transmission mechanism, a shank push rod and a thigh push rod; a user can select to carry out rehabilitation training on flexion and extension of shanks, namely knee joints, or to carry out rehabilitation training on flexion and extension of thighs, namely hip joints, the device can realize lower limb rehabilitation training in various modes, a patient can autonomously carry out flexion and extension training, and the training efficiency is improved.