1303169 九、發明說明： 【發明所Λ之技術領域】 本發明係有關-種多關節下肢運動裝置，尤指一種使 用特殊設計之動力驅練置，並透料速度運動控制或阻 力扭牵控偶提供使时下歧可活動卿部位進行被動式 運動或主動式運動之多關節下肢運動裝置。 【先前技術】 人類肢體的動作於上肢主要提供操作週邊環境的需 求，下肢則來負責人體的移動。因此肢體動作因應目的的 不同’則有其特殊性，如上肢動作著重於開放式的動作操 作，而下肢則為與地面產生穩定的連結。人體肌肉骨路系 、充吊口為激烈/舌動或累積工作而造成傷害失能，肌肉骨絡 、系統傷害的預防與復原需要主動的參與與自主的控制，以 達到關節活動與控制的最佳狀態。近年來醫療負擔及老年 化的結構的增加，逐步強調居家照護及體適能的增進。因 =關照護系統的開發朝向智慧型的設計研發，骨骼肌肉 ’、統如何訓練維護最佳關節活動狀態是追求方向之一。 肉維=節活動訓練最重要在於主動方式的介人，以提供肌 有肌肉應有的張力與肌力。被動方式活動相關關節，無須 的剌i收縮的參與控制，無法達到肌肉收縮控制關節活動 動施。傳統肌肉訓練藉由外加重量提供阻力，經個人主 重量^^關節活動訓練（如啞鈴、沙包、彈力繩、健身 里訓練器具等）即所謂的肌肉等張性訓練，阻力依訓練 1303169 . 人I人為操作判斷調整重 以速度調控訓練參數的等速肌j如行走功能整合蛛練。 度上控制與肌肉收縮特性的練儀雖提供肢體動作速 來，以機ϋ手臂絲帶騎° 1 操作的訓練特性，但是以實讲控制具有空間與功能 練考量或居家使用的考量。料= 步機、I- Z /、訓練輔助工具可涵蓋如運動腳他車、跑 能，但缺乏行動舆攜帶的輕量力強化下肢訓練功 節作於:肢關節活動主要是以膝關節或蝶足關 控制】桑作以關節活整體帶動為活動特徵。 運動訓練模式，^ 或以肌肉等長、等張傳統 一自以回饋機制加以操作，習知技術對於 述問碭並未揭示任何解決的手段。 ； #蚀:!:於此，本發明提出一種多關節下肢運動裝置，复 纽力扭;設===’藉由控制馬達的轉迷或 叙 于使用者的下肢可進行-被動式運動或主 運1驴娶。技術相較，本發明所提出之多關節下肢 維修^俱具有^的運動自由度，且具有簡便、輕量與易 …Ί並可提供主動式及被動式之運動機能。、 【發明内容】 本么明的主要目的在於提供—種多關節下肢運 ’使得使用者的踝部可進行多自由度運動 61303169 IX. Description of the invention: [Technical field of the invention] The invention relates to a multi-joint lower limb movement device, in particular to a power-driven device using a special design, and a transmissive speed motion control or a resistance torsion control device. A multi-joint lower extremity exercise device is provided for passively or actively exercising a temporally active movable part. [Prior Art] The movement of the human limb in the upper limb mainly provides the need to operate the surrounding environment, and the lower limb is responsible for the movement of the human body. Therefore, the difference in the purpose of the body movement depends on its particularity. The upper limb movement focuses on the open movement, while the lower limb creates a stable connection with the ground. Human muscle skeletal roads and slings cause injury/disability for intense/tongue or cumulative work. The prevention and recovery of musculoskeletal and systemic injuries requires active participation and autonomous control to achieve the most joint activity and control. Good state. In recent years, the increase in medical burden and aging structure has gradually emphasized the improvement of home care and fitness. Because the development of the care system is toward intelligent design and development, how to train and maintain the optimal joint activity state is one of the pursuit directions. Meat dimension = section activity training is most important in the active way to provide the muscles with the muscles should have the tension and muscle strength. Passive-type activity-related joints, without the need for 剌i contraction, can not achieve muscle contraction to control joint activity. Traditional muscle training provides resistance by applying weight, and the individual's main weight ^^ joint activity training (such as dumbbells, sandbags, elastic ropes, fitness training equipment, etc.) is called muscle isotonic training, resistance training 1303169. People I The man-made operation judges the isokinetic muscles that are adjusted to the speed control training parameters, such as the walking function integration spider. Although the degree of control and muscle contraction characteristics provide the speed of limb movement, the training characteristics of the operation of the arm and arm ribbon are as follows. However, it is practical to control the space and function of the practice or home use considerations. Material = step machine, I-Z /, training aids can cover such things as sports feet, running, but lack of action, carrying lightweight force-enhancing lower limb training exercises for: limb joint activities are mainly knee joints or butterflies Foot control] Mulberry is characterized by active joints. The exercise training mode, ^ or with the muscle isometric, isotonic tradition, and a self-feedback mechanism, the conventional technique does not reveal any means of solving the problem. #蚀:!: Here, the present invention proposes a multi-joint lower limb exercise device, which is reversible; if ===' can be controlled by controlling the motor's reflex or by the user's lower limbs - passive motion or main Ship 1 驴娶. Compared with the technology, the multi-joint lower limb maintenance provided by the present invention has the freedom of movement, and is simple, lightweight and easy to provide and can provide active and passive exercise functions. [Summary of the Invention] The main purpose of the present invention is to provide a multi-joint lower limb movement that allows the user's ankle to perform multiple degrees of freedom.
1303169 - (案號第〇94 M5195號專利案之說日月書修正） • (Multi-degree-of-freedom motion)及主動式運動 (Active exercise)、被動式（passiVe exercise)等運動 機能。 本發明的另一目的在於提供一個可隨身攜帶應用之多 ·. 關節下肢運動裝置，使得使用者的髖部、膝部與踝部運動 V 機能可透過單一的下肢運動裝置來加以完成。 本發明之另-個目的在於提供一個適合坐姿狀態的需 鲁求下使用之主動關節訓練設備，並可進行階段式需求訓練 之設計，以符合不同階段如動作實施難度的能力需求。 本發明之另-個目的在於提供—種馬達装置的等速度 運動控制，利用馬達提供可調整大小 透過輪轴對使用者:肢的關節活動進行轉動活動動=裝 置使用者下肢多關節的被動式運動。 本發明之另一個目的在於提 作原理，利用馬達提供可調整=的=由馬達阻力的動 鲁輪軸對使用者下肢的關節活動進^向阻力扭矩’透過 用者下肢多關節的主動式運動。力活動’達成裝置使 為達到上述目的，本發明提— 置，包括-第一*載部、一第二4 , μ節下肢運動裝 該第二承载部，係、以可旋轉之方料及一動力驅動裝置， *力驅動裝置係連接該第二承:連接該第-承载部；該 動該第二承载部，使得該第二承：二用於提供—推力以推 而產生一旋轉作動。 對應於該第一承栽邛 較佳地’該第-承載部包括1轉―h 1303169 支•長度係可調 至少-轉動:載該動力趣動裝置包括 力來源；該轉向機係連接該至少―轉動^於k供動 控制該至少—轉動輪之轉動方向，I中^馬達，用於 控制馬達或1速控制馬達。達可為-定速 車乂佳地，該多關節下肢運動裝置更 - 二以J旋轉之方式連接該第二承載部-一：三承载 括一紋轉架及一支撐架，栌 ^ 一承載部包 架，且該切架之長度財調支整料之4係連接該旋轉 為=上述目的，本發出 裝置，包括—第一承载部、 Λ夕關即下肢運動 置，該第二承載部，係以第n錢-動力驅動裳 該動力驅動震置係連接轉之方式連接該第-承載部； 使該第二承恭卹〜第一承載部，用於提供—阳 較佳承受•力 支撐架之一端係 包括一旋轉架及一支撐架， f:該第二承載部包括且該支撐架之長度係可調 心1動輪、—馬達、1=板。該動力驅動裝置包括 =達係用於提供 向機及至少-推力感硎裝 ::及輪，用於控s至 推力感測裝置係設置二轉動輪之轉動方向；該 “c第c二輪上，用於債 、有-阻力担起，該阻力之推力強度，其_該馬達 車又佳地’該多關節下*矩之強度係可調整。 歧運動裝置更包括一第三承裁 1303169 和以可疑轉之方式連接該第二承载部， 括-旋轉架及-支撐架，該支撐架 ^: 架，且該支料之長㈣可碰。之Μ連接該叙轉 推力感测裝置包括一轉動轴、-彈性元件、 一叙轉角度感測器、及— 錢 -軸承連接魅少-轉動輪m /轉動軸係透么 轴f，她轉角度感測器係用以偵測該轉動輪盥該轉動軸 之相對位移角度；該聯軸器係連接 感測器；該軸套係套錢轉動_及該旋轉角度 ㈣轉動軸、該彈性元件及該聯轴器。 【實施方式】 更進為t貝審查委歧對本發明之特徵、目的及功能有 更進-步的認知與瞭解，聽合圖柄細說明如後.-有 肢4dr為本發明第一較佳實施例多關節下 動裝置之以、圖。使麟可將多_下肢運動装置步 =下肢，關助可活動關節部位進行阻動^ 即下肢運動裝置包括有-第—承載部 第二承載部13及一動力驅動裝置14。 第一承載部11包括有一支撐架1U及一旋轉架112 , 架111及旋轉架〗12係裝設於人體下肢小腿的外側， 並可遠，束帶固定於小腿上。其中，第一承載部u可依使 2者下肢小腿調整長度，也就是支撐架1〗〗可透過滑槽與 ’月桿的組合或是其他具有滑動功能之裝置，以可伸縮之^ 式與旋轉架112相連接，藉此調整出第一承載部11最摘去 的長度。 、虽 9 1303169 第二承載部12包括有一旋轉底板121，旋轉底板121 、上方固設有一直立板片122,支撐架U1係透過一旋轉軸 15與直立板片122相連結，故支撐架lu與旋轉底板121 可繞著旋轉軸15轉動。人體下肢腳底則可貼置於旋轉底板 • 131上方，並透過束帶固定於腳掌。 第二承載部13包括有一支撐架131及一旋轉架132， 支撐架131及旋轉架132係裝設於人體下肢大腿的外側， 並可透過束帶固定於大腿上。其中，第三承載部13也可依 • 使用者下肢大腿調整長度，也就是支撐架131可透_過滑槽 與滑桿的組合或是其他具有滑動功能之裝置，以可伸縮之 方式與旋轉架132相連接，藉此調整出第三承載部13最商 當的長度，旋轉架132與旋轉架112則可繞著旋轉軸16轉 動。 動力驅動裝置14係用於提供一推力以推動第二承 部12，使得第二承載部12對應於第一承載部u而產生一 旋轉作動。動力驅動裝置14包括有一馬達141、一轉向機 • I42、二轉動輪143及144，馬達141係作為動力驅動襞置 14的動力來源；轉向機142係連結馬達141、轉動輪\43 …及轉動輪144，用於控制轉動輪H3及144的轉動向。 、 當連結於旋轉底板121下方之馬達hi運轉時，可透過轉 ' 向機142驅動轉動輪143及144轉動，進而推動旋轉^板 121繞旋轉軸15轉動。由於腳掌、小腿及大腿分別透過束 帶連結於第二承載部12、第一承載部π及第三承载部^， 因此’踩關節、膝關節與髋關節可分別透過整個多關節下 肢運動裝置的帶動，使得下肢關部部位產生轉動，進^協 1303169 助使用者下肢達成被動式運動（Passive exercise)的目 的。其中，馬達141可依據使用者的需求，選擇一具有等 速度控制功能或者是變速度控制功能之馬達，使得旋轉底 板121能夠以等速度或變速度的方式擺動，提供使用者不 同受力程度的被動式運動。 為本發明第一較佳實施例之動力 圖 請參考圖 動裝置之示意圖。為了讓使用者便於攜帶整個多關節下肢 運動裝置，動力驅動裝置14、可額外設置一可與旋轉底板 121相互結合之底板145 ’而轉向機142則固定於底板145 下方，當使用者不需使用整個多關節下肢運動裝置時，可 將旋轉底板121與底板145拆開分離。馬達141可主動提 供動力，然後透過轉向機142連結傳動軸146與傳動軸 147，分別帶動轉動輪143與轉動輪144滚動，使得底; ⑷及旋轉底板121產生擺動，透過上丄，使用： 須施力即可讓整個下肢可活動關節部位進行運動。 叫芩考圖二，圖三為本發明第二較佳實施例多關節下 ^運動裝置之示意圖。制者可將多關節下肢運動裝置裝 汉於下肢’以輔助可活動關節部位進行阻力活動。此多 節下肢運動裝置包括有__第—承細31、一第二承載部 32、一第二承載部33及一動力驅動農置料。 第承載部31包括有一支撐架311及一旋轉架312， 支撐架311及_架312係裝設於人體下肢㈣的外側， =透過束帶固定於小腿上。其中，第—承載部31可 w下肢小腿調整長度，也就是支料311可透過滑槽鱼 干的組合或是其他具有滑動功能之裝置，以可伸縮之； u〇3l69 鱗312相連接，藉此調整出第一承載部31最適當 上方承載部Μ包括有一旋轉底板321，旋轉底板321 35又有直立板片322，支撐架311係透過一旋轉軸 可緒、* f板片322相連結’故支撐架311與旋轉底板321 抑，，旋轉軸35轉動。人體下肢腳底則可貼置於旋轉底板 上方，並透過束帶固定於腳掌。 支幹第二承載部33包括有一支擇架331及-旋轉架332， ^架咖及旋轉架332係裝設於人體下肢大腿的外侧， ^透過束帶固定於大腿上。其中，第三承載部33也可依 下肢大腿調整長度，也就是支撐架331可透過滑檜 >、β扣的組合或是其他具有滑動功能之裝置，以可伸縮之 =式與旋轉架332相連接，藉此調整出第三承載部33最適 當的長度，旋轉架332與旋轉架312則可繞著旋轉軸36 動。 動力驅動裝置34係連接第二承載部32，用於提供一 阻力以使第一承載部Μ於旋轉作動時，承受該阻力。動力 驅動裝置34包括有一馬達341、一轉向機342、二轉動輪 343及344、二推力感測裝置345及346，馬達341係作為 動力驅動裝置34的動力來源；轉向機342係連結馬達341、 轉動輪343及轉動輪344，用於控制轉動輪343及344的 轉動方向；推力感測裝置345及346係分別設置於轉動輪 343及344上，用於偵測人體下肢施加於第二承載部32之 推力強度。由於馬達341具有一與轉動方向相反的逆向阻 力扭矩，使用者下肢必須對旋轉底板321施力才可克服馬 12 1303169 達341的逆向阻力扭矩，此時馬達341才可帶動轉動輪343 及轉動輪344滾動，使得使用者下肢可活動關節部位產生 轉動，進而協助使用者下肢達成主動式運動（Active exercise )的目的。其中，馬達341可依據使用者的需求， 選擇一可調整逆向阻力扭矩大小之馬達，使用者根據逆向 阻力扭矩的大小，必須對第二承載部32，也就是旋轉底板 ‘ 321施加力量，才可順利帶動轉動輪343及轉動輪344滾 動，藉此提供使用者不同施力程度的主動式運動。 • 請參考圖四，圖四為本發明第二較佳實施例之動力驅 動裝置之示意圖。為了讓使用者便於攜帶整個多關節下肢 運動裝置，動力驅動裝置34可額外設置一可與旋轉底板 321相互結合之底板347，而轉向機342則固定於底板347 下方，當使用者不需使用整個多關節下肢運動裝置時，可 將旋轉底板321與底板347拆開分離。使用者下肢進行推 力運動時，可對底板347及旋轉底板321造成推力，此時 推力感測裝置345及346可偵測出使用者推力強度的大 • 小，當偵測到的推力達到一預設值時，也就是馬達341所 設定之逆向阻力扭矩強度，才可控制馬達341帶動轉動輪 343及344滾動，以維持使用者下肢進行推力運動時的固 • 定推力。透過上述機制，使用者必須透過本身施力才可讓 動力驅動裝置34開始運轉，進而使整個下肢可活動關節部 位進行運動。 請參考圖五’圖五為本發明第二較佳實施例之推力感 測裝置之分解示意圖。推力感測裝置51包括一轉動袖 51卜一彈性元件512、一軸套513、一聯輪㈣叫及一旋 13 1303169 轉角度感測器515，推力感測骏置51與轉動輪52、軸承 53組合後可形成一具有推力感測功能之轉動輪。在組装 時，可將轉動轴511透過軸承53連結於轉動輪52，此時 轉動輪52與轉動軸511間為自由轉動。為進行推力量 於轉動軸511與軸套513間，裝置彈性元件512，且軸套 513固定於轉動輪52上。由於彈性元件512之兩端分別連 結轉動轴511與轴套513，因此轉動輪犯與轉動軸5ιι間 為彈性結構’且轉動輪52與轉動軸511間的相對位移角 度’可由固定於軸套513上之旋轉角度感測器515偵測得 知。聯軸1514用以連結轉動轴511與旋轉角度感測器515 上之旋轉軸5151。應用推力感測裝置51時，轉動軸511 f連接動力源，透過轉動轴511與轉動輪52間的相對位移 =度’配合彈性元# 512之特性’可估測出轉動輪52所接 =之地面’其仙於轉動輪52之逆向推力。整個具有推力 γ則功能之轉動輪於組合後，可形成一推力感測轉動輪 6〇，如圖六所示。 作莊Γ上所述’本發明提出一種多關節下肢運動裝置，其 活達，等速度運動控制，透過輪軸對使用者下肢可 運勤I進仃轉動活動，達成使用者下肢多關節的被動式 透過輪供一可調整大小的逆向阻力扭矩， 者妓可活動關節進行阻力活動，並由裝 下^ϊΐ之推力感測裝置來控制馬達推力，達成使用者 卜肢多關節的主動式運動。 之 上所述者，僅為本發明之較佳實施例，當不能以 u本發明的範圍。即大凡依本發明申請專利範圍所做 14 1303169 之均等變化及修飾，仍將不失本發明之要義所在，亦不脫 離本發明之精神和範圍，故都應視為本發明的進一步實施 狀況。 【圖式簡單說明】 圖一為本發明第一較佳實施例多關節下肢運動裝置之示意 圖。 圖二為本發明第一較佳實施例之動力驅動裝置之示意圖。 圖三為本發明第二較佳實施例多關節下肢運動裝置之示意 圖。 圖四為本發明第二較佳實施例之動力驅動裝置之示意圖。 圖五為本發明第二較佳實施例之推力感測裝置之分解示意 圖。 圖六為本發明第二較佳實施例之推力感測裝置之組合示意 圖。 【主要元件符號說明】 11〜第一承載部 111〜支撐架 112〜旋轉架 12〜第二承載部 121〜旋轉底板 122〜直立板片 13〜第三承載部 15 1303169 131〜支撐架 132〜旋轉架 14〜動力驅動裝置 141〜馬達 142〜轉向機 143〜轉動輪 144〜轉動輪 145〜底板 146〜傳動軸 147〜傳動轴 15〜旋轉軸 16〜旋轉車由 31〜第一承載部 311〜支撐架 312〜旋轉架 • 32〜第二承載部 321〜旋轉底板 322〜直立板片 33〜第三承載部 331〜支撐架 332〜旋轉架 34〜動力驅動裝置 341〜馬達 1303169 342〜轉向機 343〜轉動輪 344〜轉動輪 345〜推力感測裝置 346〜推力感測裝置 347〜底板 348〜傳動軸 349〜傳動轴 35〜旋轉軸 36〜旋轉軸 51〜推力感測裝置 511〜轉動轴 512〜彈性元件 513〜軸套 514〜聯軸器 515〜旋轉角度感測器 5151〜旋轉轴 52〜轉動輪 5 3〜軸承 60〜推力感測轉動輪1303169 - (Case No. 94 M5195 Patent Case Correction) • (Multi-degree-of-freedom motion) and active exercise, passive (passiVe exercise) and other motor functions. Another object of the present invention is to provide a portable, lower-limb exercise device that allows the user's hip, knee, and ankle motion V functions to be accomplished through a single lower limb motion device. Another object of the present invention is to provide an active joint training device that is suitable for use in a sitting position and that can be used in a phased demand training design to meet the capability requirements of different stages such as the difficulty of the action implementation. Another object of the present invention is to provide a constant speed motion control of a motor device, which provides a resizable movement through the axle to the user: the joint movement of the limb movement = the passive movement of the user's lower limb multi-joint . Another object of the present invention is to provide a principle for utilizing a motor to provide an adjustable motion of the articulated joint torque of the lower limbs of the user's lower limbs, which is adjustable = = the resistance of the motor by the motor resistance. The force activity 'achieves the device to achieve the above purpose, and the present invention provides a first * carrier portion, a second 4, a μ segment lower limb movement to mount the second carrier portion, a system, a rotatable square material, and a The power driving device, the force driving device is connected to the second bearing: connecting the first bearing portion; the moving the second bearing portion, so that the second bearing is used to provide a thrust to push a rotation. Corresponding to the first carrier, preferably the first carrier portion includes 1 turn - h 1303169 support length adjustable at least - rotation: the power fun device includes a force source; the steering mechanism connects the at least ―Rotate^K is used to control the at least—the direction of rotation of the rotating wheel, and the motor is used to control the motor or the 1st speed control motor. Da Ke is a fixed speed locomotive, the multi-joint lower limb movement device is more - two is connected to the second bearing portion by J rotation - one: three bearing including a grain turret and a support frame, 栌 ^ a bearing a package, and the length of the cutting frame is 4, and the rotation of the material is the same as the above purpose. The present device includes a first bearing portion, a lower limb, a lower limb, and a second carrier. , the first load-bearing portion is connected by the n-th power-powered driving power-driven vibration system connection; the second bearing-to-first load-bearing portion is used to provide a good support for the yang One end of the support frame includes a rotating frame and a supporting frame, f: the second carrying portion comprises and the length of the supporting frame is a adjustable 1 moving wheel, a motor, a 1=plate. The power driving device includes: a straddle line for providing a machine and at least a thrust sensing armor: and a wheel for controlling the s to the thrust sensing device to set a rotation direction of the two rotating wheels; For the debt, the - resistance, the thrust strength of the resistance, the motor vehicle is also good. The strength of the multi-joint under the moment can be adjusted. The differential motion device further includes a third contractor 1303169 and The second load-bearing portion is connected in a suspicious manner, including a rotating frame and a support frame, the support frame is: the frame, and the length (4) of the support material is collidible. The connection of the swivel thrust sensing device includes a Rotating shaft, - elastic element, a rotation angle sensor, and - money - bearing connection charm less - rotating wheel m / rotating shaft through the axis f, her angle sensor is used to detect the rotating wheel相对 the relative displacement angle of the rotating shaft; the coupling is connected to the sensor; the sleeve is wrapped by the money rotation _ and the rotation angle (four) rotating shaft, the elastic element and the coupling. A further step-by-step understanding of the features, purposes, and functions of the present invention has been made for the review of the invention. The hearing joint handle is described in detail as follows. - The limb 4dr is the figure of the multi-joint lower moving device of the first preferred embodiment of the present invention. The lining can move the _ lower limb exercising device step = lower limb, and the assisting activity The joint portion is blocked. The lower limb moving device includes a first-bearing portion second bearing portion 13 and a power driving device 14. The first bearing portion 11 includes a supporting frame 1U and a rotating frame 112, a frame 111 and a rotating frame. 〗 12 series is installed on the outer side of the lower leg of the lower limb of the human body, and can be far away, and the strap is fixed on the lower leg. Among them, the first bearing part u can adjust the length of the lower leg of the lower limb, that is, the support frame 1 can be slidable The combination of the groove and the 'moon rod or other sliding device is connected to the rotating frame 112 in a telescopic manner, thereby adjusting the length of the first carrying portion 11 to be removed. Although 9 1303169 second The supporting portion 12 includes a rotating bottom plate 121. The rotating bottom plate 121 is fixed with a vertical plate 122. The supporting frame U1 is coupled to the vertical plate 122 through a rotating shaft 15, so that the supporting frame lu and the rotating bottom plate 121 can be wound around. The rotating shaft 15 rotates. The lower limbs of the human body are It can be placed on the top of the rotating bottom plate 131 and fixed to the sole of the foot through the strap. The second carrying portion 13 includes a supporting frame 131 and a rotating frame 132. The supporting frame 131 and the rotating frame 132 are installed on the outer side of the lower leg of the human body. And can be fixed to the thigh through the strap. The third carrying portion 13 can also adjust the length according to the lower leg of the user's lower limb, that is, the support frame 131 can pass through the combination of the sliding slot and the sliding rod or other sliding The functional device is coupled to the rotating frame 132 in a telescopic manner, thereby adjusting the most desirable length of the third carrying portion 13, and the rotating frame 132 and the rotating frame 112 are rotatable about the rotating shaft 16. Power driving device The 14 series is used to provide a thrust to push the second receiving portion 12 such that the second carrying portion 12 generates a rotational motion corresponding to the first carrying portion u. The power driving device 14 includes a motor 141, a steering gear I42, two rotating wheels 143 and 144, and the motor 141 is used as a power source for the power driving device 14; the steering device 142 is coupled to the motor 141, the rotating wheel \43 ... and rotates The wheel 144 is for controlling the rotational direction of the rotating wheels H3 and 144. When the motor hi connected to the lower side of the rotating bottom plate 121 is operated, the rotating wheels 143 and 144 are driven to rotate by the turning machine 142, thereby pushing the rotating plate 121 to rotate about the rotating shaft 15. Since the sole, the calf and the thigh are respectively connected to the second bearing portion 12, the first bearing portion π and the third bearing portion through the strap, the stepping joint, the knee joint and the hip joint can respectively pass through the entire multi-joint lower limb exercising device. Driven to make the lower limbs part of the rotation, Jinshui 1303169 helps the user's lower limbs achieve the purpose of passive exercise. The motor 141 can select a motor having an equal speed control function or a variable speed control function according to the user's needs, so that the rotating bottom plate 121 can swing at a constant speed or a variable speed to provide different degrees of force to the user. Passive movement. For a power diagram of the first preferred embodiment of the present invention, reference is made to the schematic diagram of the moving device. In order to facilitate the user to carry the entire multi-joint lower limb movement device, the power driving device 14 may additionally be provided with a bottom plate 145' which can be coupled with the rotating bottom plate 121, and the steering machine 142 is fixed under the bottom plate 145, when the user does not need to use When the entire multi-joint lower limb exercising device is used, the rotating bottom plate 121 and the bottom plate 145 can be detached and separated. The motor 141 can actively provide power, and then the transmission shaft 146 and the transmission shaft 147 are coupled through the steering machine 142, respectively, and the rotating wheel 143 and the rotating wheel 144 are respectively rolled to make the bottom; (4) and the rotating bottom plate 121 swing, through the upper jaw, using: The force can be applied to move the entire lower limb movable joint. Referring to Figure 2, Figure 3 is a schematic view of a multi-joint lower motion device according to a second preferred embodiment of the present invention. The manufacturer can apply a multi-joint lower limb exercise device to the lower limbs to assist the movable joint to perform resistance activities. The multi-section lower limb exercising device comprises a __first-shoulder 31, a second carrying portion 32, a second carrying portion 33 and a power-driven agricultural material. The first carrying portion 31 includes a support frame 311 and a rotating frame 312. The support frame 311 and the frame 312 are mounted on the outer side of the lower limb (4) of the human body, and are fixed to the lower leg by the strap. Wherein, the first load-bearing portion 31 can adjust the length of the lower leg and the lower leg, that is, the support 311 can be connected through the combination of the chute and the other sliding device, so as to be retractable; u〇3l69 scale 312 is connected, borrowing The most suitable upper carrying portion of the first carrying portion 31 includes a rotating bottom plate 321 . The rotating bottom plate 321 35 has an upright plate 322. The supporting frame 311 is coupled through a rotating shaft and the * f plate 322. Therefore, the support frame 311 and the rotating bottom plate 321 are rotated, and the rotating shaft 35 is rotated. The lower leg of the human body can be placed on top of the rotating bottom plate and fixed to the sole of the foot through the strap. The support second carrying portion 33 includes a frame 331 and a rotating frame 332. The cradle and the rotating frame 332 are mounted on the outer side of the thigh of the lower limb of the human body, and are fixed to the thigh through the strap. Wherein, the third carrying portion 33 can also adjust the length according to the thigh of the lower limb, that is, the support frame 331 can be coupled through the sliding shovel, the β buckle or other sliding device, and can be retractable and rotated 332. By connecting, thereby adjusting the optimum length of the third carrier portion 33, the rotating frame 332 and the rotating frame 312 are movable around the rotating shaft 36. The power drive unit 34 is coupled to the second carrier portion 32 for providing a resistance to withstand the resistance of the first carrier portion when the rotary actuator is actuated. The power driving device 34 includes a motor 341, a steering wheel 342, two rotating wheels 343 and 344, and two thrust sensing devices 345 and 346. The motor 341 is used as a power source of the power driving device 34. The steering device 342 is coupled to the motor 341. The rotating wheel 343 and the rotating wheel 344 are used to control the rotating directions of the rotating wheels 343 and 344. The thrust sensing devices 345 and 346 are respectively disposed on the rotating wheels 343 and 344 for detecting the lower limbs of the human body being applied to the second carrying portion. 32 thrust strength. Since the motor 341 has a reverse resistance torque opposite to the rotation direction, the lower limb of the user must apply a force to the rotating bottom plate 321 to overcome the reverse resistance torque of the horse 12 1303169 up to 341, and the motor 341 can drive the rotating wheel 343 and the rotating wheel 344 to roll. In this way, the user can rotate the movable joint portion of the lower limb, thereby assisting the user to achieve the purpose of active exercise for the lower limb. The motor 341 can select a motor capable of adjusting the magnitude of the reverse resistance torque according to the user's needs, and the user must apply force to the second carrier portion 32, that is, the rotating bottom plate 321 according to the magnitude of the reverse resistance torque. The rotating wheel 343 and the rotating wheel 344 are smoothly driven to roll, thereby providing active motion of the user with different degrees of force. Please refer to FIG. 4, which is a schematic diagram of a power driving device according to a second preferred embodiment of the present invention. In order to facilitate the user to carry the entire multi-joint lower limb moving device, the power driving device 34 may additionally be provided with a bottom plate 347 which can be coupled with the rotating bottom plate 321 , and the steering machine 342 is fixed under the bottom plate 347 when the user does not need to use the whole In the multi-joint lower limb exercising device, the rotating bottom plate 321 and the bottom plate 347 can be separated and separated. When the user's lower limb performs the thrust motion, the thrust of the bottom plate 347 and the rotating bottom plate 321 can be caused. At this time, the thrust sensing devices 345 and 346 can detect the large and small thrust strength of the user, and when the detected thrust reaches a pre-prevention When the value is set, that is, the reverse resistance torque intensity set by the motor 341, the motor 341 can be controlled to drive the rotating wheels 343 and 344 to roll to maintain the fixed thrust when the user's lower limb performs the thrust motion. Through the above mechanism, the user must exert the force of the user to start the operation of the power driving device 34, thereby moving the movable joint portion of the entire lower limb. Referring to Figure 5, Figure 5 is an exploded perspective view of a thrust sensing device in accordance with a second preferred embodiment of the present invention. The thrust sensing device 51 includes a rotating sleeve 51, an elastic member 512, a sleeve 513, a joint wheel (four) and a rotary 13 1303169 rotation angle sensor 515, a thrust sensing spring 51 and a rotating wheel 52, a bearing 53 After combination, a rotating wheel with a thrust sensing function can be formed. At the time of assembly, the rotating shaft 511 is coupled to the rotating wheel 52 through the bearing 53, and the rotating wheel 52 and the rotating shaft 511 are freely rotated. To push the force between the rotating shaft 511 and the sleeve 513, the elastic member 512 is disposed, and the sleeve 513 is fixed to the rotating wheel 52. Since the two ends of the elastic member 512 are respectively coupled to the rotating shaft 511 and the sleeve 513, the rotating wheel and the rotating shaft 5 ι are elastic structures and the relative displacement angle between the rotating wheel 52 and the rotating shaft 511 can be fixed to the sleeve 513. The upper rotation angle sensor 515 detects the knowledge. The coupling shaft 1514 is for coupling the rotation shaft 511 and the rotation shaft 5151 on the rotation angle sensor 515. When the thrust sensing device 51 is applied, the rotating shaft 511 f is connected to the power source, and the relative displacement between the rotating shaft 511 and the rotating wheel 52 is matched with the characteristic of the elastic element # 512 to estimate that the rotating wheel 52 is connected. The ground 'is stunned by the reverse thrust of the turning wheel 52. After the entire rotating wheel with the function of thrust γ is combined, a thrust sensing rotating wheel 6〇 can be formed, as shown in FIG. According to the above description, the present invention proposes a multi-joint lower limb exercising device, which has a movable and equal-speed motion control, and can move the lower limbs through the axle to the user's lower limbs to achieve the passive movement of the lower limbs of the user. The wheel is provided with a resizable reverse resistance torque, and the movable joint performs the resistance activity, and the thrust of the motor is controlled by the thrust sensing device to achieve the active motion of the user's multiple joints. The above description is only a preferred embodiment of the present invention, and is not intended to be in the scope of the invention. It is to be understood that the scope of the present invention is not limited by the spirit and scope of the present invention, and should be considered as a further implementation of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view showing a multi-joint lower limb exercising device according to a first preferred embodiment of the present invention. 2 is a schematic view of a power driving device according to a first preferred embodiment of the present invention. Fig. 3 is a schematic view showing a multi-joint lower limb exercising device according to a second preferred embodiment of the present invention. 4 is a schematic view of a power driving device according to a second preferred embodiment of the present invention. Figure 5 is an exploded perspective view of a thrust sensing device in accordance with a second preferred embodiment of the present invention. Figure 6 is a schematic diagram showing the combination of the thrust sensing devices of the second preferred embodiment of the present invention. [Description of main component symbols] 11 to the first carrier portion 111 to the support frame 112 to the rotating frame 12 to the second carrier portion 121 to the rotating bottom plate 122 to the upright plate 13 to the third bearing portion 15 1303169 131 to the support frame 132 to rotate Rack 14 to power drive device 141 to motor 142 to steering machine 143 to rotary wheel 144 to rotary wheel 145 to bottom plate 146 to drive shaft 147 to drive shaft 15 to rotary shaft 16 to rotary vehicle 31 to first load bearing portion 311 to support Rack 312 to swivel frame 32 to second carrier portion 321 to rotating bottom plate 322 to upright plate 33 to third carrier portion 331 to support frame 332 to revolving frame 34 to power drive device 341 to motor 1303169 342 to steering machine 343 Rotating wheel 344 to rotating wheel 345 to thrust sensing device 346 to thrust sensing device 347 to bottom plate 348 to drive shaft 349 to drive shaft 35 to rotary shaft 36 to rotary shaft 51 to thrust sensing device 511 to rotary shaft 512 to elastic Element 513 to bushing 514 to coupling 515 to rotation angle sensor 5151 to rotating shaft 52 to rotating wheel 5 3 to bearing 60 to thrust sensing rotating wheel