Lower limb two-joint rehabilitation training mechanism based on parallel mechanism and two-dimensional force-measuring mechanism

The invention discloses a lower limb two-joint rehabilitation training mechanism based on a parallel mechanism and a two-dimensional force-measuring mechanism. The lower limb two-joint rehabilitation training mechanism is composed of the parallel mechanism and the two-dimensional force-measuring mechanism, wherein the parallel mechanism is composed of parallel linkage rods with unequal length, a short connecting rod with one end being fixed, a drive motor, an angle sensor and a rotation shaft; the two-dimensional force-measuring mechanism is composed of a pedal and two groups of bridge circuits; the angle sensor is connected with a computer through an amplification interface circuit; the bridge circuits are connected with the computer through an amplification interface circuit, the computer is connected with a control circuit of the drive motor, therefore, the computer acquires data measured by the angle sensor and the two groups of bridge circuits through the amplification interface circuit, and processes the data, and obtains the rotation angle information of the short connecting rod, and the acting forces of the feet to the pedal in the vertical direction and front-back direction, then the control circuit controls the drive motor to rotate, and thus the rehabilitation movement training of driving the knee joints and the ankle joints through one motor is realized.