TWM503896U - Lower limb rehabilitation mechanism - Google Patents

Description

Lower limb rehabilitation mechanism

This creation is a lower limb rehabilitation mechanism, especially one that is used for rehabilitation of lower limbs by rehabilitation devices.

According to the advancement of science and technology and the improvement of living standards, many countries are entering an aging society, and various health problems accompanying aging are receiving increasing attention. In the elderly, there are a large number of patients with neurological diseases or cerebrovascular diseases. For example: stroke, spinal cord injury, cerebral palsy or impaired brain function, multiple sclerosis, damage to the central nervous system caused by Parkin's disease factors, and also caused varying degrees of motor dysfunction in patients' limbs. In severe cases, symptoms of full or partial hemiplegia may occur. At the same time, injuries to the nerves or upper limbs/lower limbs are also increasing due to traffic accidents. However, the lower limb walking function is an important indicator of mobility. It is necessary to ensure normal living independently, so most patients with traffic accidents are affected by their daily lives and bring certain burdens and challenges to the family.

However, most patients with central nervous system damage can recover to the extent of independent walking after surgery or medication, but most patients will be accompanied by some sequelae, such as: reduced motor control, joint stiffness and walking steps. Symptoms of abnormal state lead to a decline in the balance function of the patient, which in turn seriously affects the ability to act, the ability to perceive the environment, and the quality of life. The theory of rehabilitation medicine and clinical trials show that patients with correct surgery and medication are correct. Scientific rehabilitation training plays an important role in the recovery and improvement of motor function. The sooner the patient puts into rehabilitation training after the acute phase, the better the effect of functional recovery. Among them, the theoretical basis of exercise rehabilitation therapy is brain plasticity. Related medical research shows that although damaged nerve cells are not regenerative, nerve tissue can regain function by functional recombination or compensation, that is, the brain has plasticity characteristics, which are shown in animals and humans to be specific to limbs. Function for active or passive repetitive correct gait training It can stimulate the proprioceptors to change the central nervous map, and promote the plasticity of the brain and spinal cord to re-learn the walking function. However, most of the current rehabilitation treatments rely on manual labor, and the rehabilitation staff and patients have to spend a lot of time. With physical strength, the efficiency and effectiveness of rehabilitation training are severely limited, and the equipment of rehabilitation medical care is relatively simple, which cannot meet the needs of patients' progressive and focused rehabilitation.

With the development of intelligent robot technology and the expansion of the rehabilitation medical market, rehabilitation training combined with robot technology to effectively solve the problems associated with the traditional rehabilitation training process, therefore, design safe, quantitative, effective and repeatable The training of multi-functional limb rehabilitation training system has become one of the urgent problems to be solved in modern rehabilitation medicine and treatment. Therefore, rehabilitation robots have emerged as the times require and provide important medical evidence. The rehabilitation robot is an important branch of medical robots. Its research integrates rehabilitation medicine, biomechanics, mechanical mechanics, materials mechanics, mechanics, electronics, computer science and robotics. The difference between rehabilitation robots and industrial robots is that they must be in direct contact with the human body, and The patient works in the same working space to make the patient and the rehabilitation training device perform an overall coordinated movement. The rehabilitation robot is controlled by a computer, and the device has a corresponding sensor and safety system, which can be operated according to different patients. The current situation automatically adjusts the training parameters to achieve the best rehabilitation effect, therefore, Health Robot helps patients re-learn and improve rehabilitation of power and effectiveness of the training action closer to a healthy state, but will also reduce the heavy rehabilitation therapist's training mission, making it more energy into related research in rehabilitation.

At present, the weight reduction method used in rehabilitation is the most common walking in the water and the use of walking sticks and crutches. There is a swimming pool in the water. The general public does not have a swimming pool, so it is extremely inconvenient for the rehabilitation of patients; The booster device only transfers the weight of the lower limbs to the shoulder joint. The shoulder joint carries additional load and is prone to fatigue, resulting in short training time and easy gait abnormality. The balance adjustment function is easy to cause the patient to fall and injured. In addition, the conventional walking assist robot has the problem of too little weight reduction and lack of maintaining the gait balance function. The hardware equipment is bulky and must be limited to the fixed space and location. operating.

In view of this, the creator specially researched and improved the lower limb rehabilitation institution, and improved the above problems with a better design, and after a long period of research and development and continuous testing, the creation of this creation began.

Therefore, the purpose of this creation is to solve the inconvenience caused by the weight reduction method used in rehabilitation, and to know that the walking assist robot has too little weight loss help, lacks the problem of maintaining the gait balance function, and allows the patient to move indoors. The operation of the real world helps to relieve the sense of discomfort and improve the motivation and effectiveness of rehabilitation.

In order to achieve the above object, our creator provides a lower limb rehabilitation mechanism comprising: a rehabilitation device having a hip joint mechanism, the hip joint mechanism pivoting a leg structure, the hip joint mechanism A first actuator is pivoted, and a second actuator is pivoted to the thigh skeleton, and the first actuator and the second actuator are pivotally provided with a hip joint actuator, the thigh skeleton A knee joint mechanism is disposed at one end of the hip joint mechanism, and the knee joint mechanism is configured to connect the thigh skeleton and a calf skeleton, the knee joint mechanism pivots a third actuator, and the calf skeleton system is pivoted a fourth actuator, the third actuator and the fourth actuator are pivotally provided with a knee joint actuator, and the calf skeleton is provided with an ankle joint mechanism at one end of the knee joint mechanism, and the ankle joint mechanism is connected The calf skeleton and a support base, the calf skeleton is pivotally provided with a fifth actuator, and the fifth actuator is pivotally provided with an ankle joint actuator, the ankle joint actuator is opposite to the fifth actuation The support is pivoted at one end of the device.

According to the lower limb rehabilitation mechanism described above, the thigh skeleton is provided with a one-leg adjustment mechanism.

According to the lower limb rehabilitation mechanism described above, the calf skeleton is provided with a calf adjustment mechanism.

According to the lower limb rehabilitation mechanism described above, the hip joint actuator, the knee joint actuator and the ankle joint actuator are coupled to a control unit.

According to the lower limb rehabilitation mechanism, the hip joint mechanism and the thigh skeleton system are pivotally provided with a first angle sensor sensing angle, and the knee joint mechanism and the calf skeleton system are pivoted with a second angle sense. The angle sensor senses the angle, the ankle joint mechanism and the support base pivot a third angle sensor sensing angle, the first angle sensor, the second angle sensor and the third angle sensing The device extracts a signal of the angular displacement of the hip joint mechanism, the knee joint mechanism and the ankle joint mechanism during the walking cycle, thereby transmitting each signal to the control unit, and controlling the first actuator by the control unit The rehabilitation device of the second actuator, the third actuator, the fourth actuator, and the fifth actuator.

According to the lower limb rehabilitation mechanism, there is further provided a remote monitoring system, the remote monitoring system remotely receiving the first angle sensor, the second angle sensor and the third angle sensing The device picks up the signal of the angular displacement of the hip joint mechanism, the knee joint mechanism and the ankle joint mechanism during the walking cycle.

According to the lower limb rehabilitation mechanism described above, the rehabilitation device is further provided with at least one fixing device.

According to the lower limb rehabilitation mechanism, there is further provided a remote monitoring system, and the support base further comprises a foot length adjustment mechanism for adjusting the length of the support base.

In summary, with the above settings, compared with the prior art, it is obvious that the present invention has the following several advantages and effects, which are detailed as follows:

1. Compared with the conventional gait rehabilitation training system, the artificial rehabilitation device of the present invention comprises a hip joint actuator, a knee joint actuator and an ankle joint actuator and a first actuator, The single-leg rehabilitation device consisting of a hybrid actuator of the second actuator, the third actuator, the fourth actuator and the fifth actuator greatly improves safety, comfort, reliability, practicability and ease of operation. And the required driving components are few, the mechanism is simple and not complicated, and it is easy to repair. In addition, the rehabilitation device allows the user to directly walk on the flat ground without using the treadmill, and further, the user travel cycle is taken. The information of each joint and the state of the two feet controls the coordination between the creation and the user, so that the user can obtain the best practice gait training, thereby achieving the effect of correct walking gait and balance control.

2. By installing a remote monitoring system, the author can instantly and remotely monitor the user's instantaneous position and the angular displacement of the hip joint mechanism, knee joint mechanism and ankle joint mechanism during the walking cycle.

This creation is a kind of lower limb rehabilitation mechanism, its implementation means, characteristics and efficacy. Several preferred and feasible embodiments are described in detail below with reference to the drawings.

First, please refer to Figures 1 to 5, which is a lower limb rehabilitation mechanism, which includes:

A rehabilitation device 1 is provided with a hip joint mechanism 11 pivotally provided with a thigh skeleton 12, the thigh skeleton 12 is provided with a thigh adjustment mechanism 121, and the hip joint mechanism 11 is pivoted a first actuator 13a, and the thigh skeleton 12 is pivotally provided with a second actuator 13b, and the first actuator 13a and the second actuator 13b are pivotally disposed with a hip joint actuator 14a. The hip joint actuator 14a is coupled to a control unit 141. The hip joint mechanism 11 and the thigh skeleton 12 are pivotally disposed with a first angle sensor 15a, and the thigh skeleton 12 is opposite to the hip joint mechanism 11. One knee joint mechanism 16 is disposed at one end, and the knee joint mechanism 16 is used for connecting the thigh skeleton 12 and a calf skeleton 17, and the calf skeleton 17 is provided with a calf adjustment mechanism 171, and the knee joint mechanism 16 is pivoted with a third a third actuator 13d is pivoted to the calf frame 17, and the third actuator 13c and the fourth actuator 13d are pivotally disposed with a knee joint actuator 14b. The actuator 14b is coupled to the control unit 141, and the knee joint mechanism 16 and the calf skeleton 17 are pivoted a second The angle sensor 15b senses an angle, and the calf skeleton 17 is provided with an ankle joint mechanism 18 at one end of the knee joint mechanism 16. The ankle joint mechanism 18 is connected to the calf skeleton 17 and a support base 19, and the support base 19 is provided with a a length adjustment mechanism 191 for adjusting the length of the support base 19, the lower leg frame 17 is pivotally provided with a fifth actuator 13e, and the fifth actuator 13e is pivotally provided with an ankle joint actuator 14c. The ankle joint actuator 14c pivots the support base 19 with respect to one end of the fifth actuator 13e. The ankle joint actuator 14c is coupled to the control unit 141. The ankle joint mechanism 18 and the support base 19 are pivoted. The third angle sensor 15c senses an angle, and the first angle sensor 15a, the second angle sensor 15b, and the third angle sensor 15c capture the hip joint mechanism 11 during the walking period. a signal of an angular displacement of the knee joint mechanism 16 and the ankle joint mechanism 18, wherein each signal is transmitted to the control unit 141, and the first actuator 13a and the second actuation are controlled by the control unit 141. The device 13b, the third actuator 13c, the fourth actuator 13d and the fifth actuator 13e The rehabilitation device 1;

At least one fixing device 2 is attached to the rehabilitation device 1;

A support mechanism 3 is coupled to the rehabilitation device 1 . The top end of the support mechanism 3 is provided with at least one suspension mechanism 31. The suspension mechanism 31 senses gravity by at least one tensile force sensing element 311, thereby stabilizing a center of gravity of the support mechanism 3, the suspension mechanism 31 is provided with a set of connecting devices 32, the socket device 32 is provided with a light reflecting portion 321, and a support member 4 is disposed between the supporting mechanism 3 and the rehabilitation device 1 The bottom end of the supporting mechanism 3 is further provided with at least one moving component 33. The moving component 33 is driven by a motor driver. The supporting mechanism 3 is further provided with a riding device 34 corresponding to the rehabilitation device 1, and the supporting mechanism 3 is further The armrest member 35 is provided with at least one pressure sensing element 351, the pressure sensing element 351 is coupled to the control unit 141;

A navigation assisting device 5 is coupled to the control unit 141. The navigation assisting device 5 is further coupled to a positioning system 51. The positioning system 51 is coupled to the control unit 141. The positioning system 51 is provided with a corresponding actual operation. a simulation map 511 of the environment (not shown), and positioning the rehabilitation device 1 at a starting point 511a of the simulated map 511, and the positioning system 51 controls the control unit 141 to control the positioning point 511b. The tampering device 1 is moved to the locating point 511b. The control unit 141 is further coupled to a photographic device 52 and a laser ranging device 53. The control unit 141 is coupled to the photographic device 52 and the laser ranging device 53. The trajectory of the object is detected to detect the position of the obstacle in front, and the rehabilitation device 1 is controlled to evade the obstacle in the moving process. The navigation aid 5 is further coupled to an ultrasonic sensing component 54. The unit 141 is configured by the ultrasonic sensing element 54 to determine a distance value to control the speed of the navigation aid 5, and the navigation aid 5 is further coupled to a searchlight 55;

a filter element 541 is coupled to the ultrasonic sensing component 54. The filter component 541 filters the distance detected by the ultrasonic sensing component 54 via the filtering component 541;

a remote monitoring system 6 is coupled to the navigation aid 5, the remote monitoring system 6 remotely monitors the location of the navigation aid 5, and the remote monitoring system 6 receives the first angle sensor 15a, the second angle sensor 15b and the third angle sensor 15c are signals for the angular displacement of the hip joint mechanism 11, the knee joint mechanism 16, and the ankle joint mechanism 18 during the walking cycle;

A display device 7 is coupled to the navigation aid device 5, and the display device 7 correspondingly presents the simulation map 511, the starting point 511a, and the positioning point 511b, and the positioning system 51 can be planned from the simulated map 511. The path from the starting point 511a to the positioning point 511b is displayed on the display device 7.

Therefore, as shown in FIG. 2 and FIG. 3, after the user 8 is inserted into the socket device 32, the suspension mechanism 31 transmits the displacement in the Z-axis direction through the rod motor, and the rod motor is designed in a single branch. The system can withstand 120 kg. Therefore, the rod motor is relatively safe for other screws to make Z-axis displacement, and the displacement is judged according to the height and weight of the user 8, for example, the height of the user 8 is 180. The weight of the centimeters is 85 kg, and the support mechanism 3 is first set at the height of the user 8, and then the human body gravity is sensed by the tension sensing element 311. Since the creative system actively acts, 10 to 20 kg is reserved. As the weight of the lower limbs, instead of fully supporting the human body's gravity, the tension sensing element 311 needs to display a value of 65 to 75 kilograms, but it is not limited thereto, and the tension can be adjusted according to the user's lower limb needs. The tension parameter of the measuring component 311 is used for the user 8 to lower the lower limbs under different weight loads, and the supporting mechanism 3 is provided with the moving component 33, so that the training can be performed by walking rehabilitation to achieve the best training effect. Rehabilitation In addition, the support member 4 is mounted on the waist of the user 8, and the waist waist can be adjusted according to requirements. The weight of the lower limb can be supported by the support member 4, thereby facilitating the use, and further, due to the socket. The device 32 is provided with a light reflecting portion 321, so that the safety of the user 8 when walking at night can be improved.

Referring to FIGS. 2 and 3, the user 8 can hold the armrest member 35 by the normal gait rehabilitation method, and the user 8 walking information is obtained by the pressure sensing member 351 of the armrest member 35. And transmitted to the control unit 141 to analyze the speed and direction of walking, thereby controlling the movement of the navigation aid 5, and the user 8 can adjust the height of the armrest member 35 according to requirements, and further, the user 8 can select the grip arm member. 35, in the normal gait type rehabilitation mode, can also sit on the adjustable ride device 34, select the vertical rehabilitation mode to operate, and the ride device 34 can adjust the height according to the user 8 needs for the user 8 There are a variety of ways to perform lower limb rehabilitation.

Referring to FIG. 4, the user 8 can rehabilitate in the normal gait mode by the rehabilitation device 1, and according to the gait trajectory of the normal person, the corresponding gait parameters, such as the step size and the pace parameter, will be used. The control unit outputs and controls the commands of the joints to guide the user to perform the gait trajectory movement of the reconstruction. Therefore, in the active training mode of the rehabilitation device 1, the control method of the master-slave tracking is adopted, wherein, for the hip The wide range of motion of the joint mechanism 11 and the knee joint mechanism 16 is achieved by the hip joint actuator 14a, the knee joint actuator 14b, and the ankle joint actuator 14c, and for a small range of motion such as the ankle joint mechanism 18 The dorsiflexion and plantar flexion, the intubation and abduction of the hip joint mechanism 11, the first actuator 13a, the second actuator 13b, the third actuator 13c, the fourth actuator 13d and the fifth The actuator 13e is realized by the hip joint actuator 14a, the knee joint actuator 14b, and the ankle joint actuator 14c with the first actuator 13a, the second actuator 13b, and the third actuator. 13c, fourth actuator 13d and fifth actuator 13e are mixed to drive the structure of the one-leg rehabilitation device 1 Both greatly improve safety, comfort, reliability, practicability and ease of operation, and require fewer driving components, which makes the creation mechanism simple and convenient for assembly. In addition, the rehabilitation device 1 is available to the user 8 Repeat the training movement in the correct gait, you can walk directly on the flat ground without using the treadmill, to approximate the gait trajectory of the human body walking on the ground, thereby realizing the sports training of each joint, the active and passive self of the leg muscles. Adjustment and rehabilitation of the nerve function, and further, the first angle sensor 15a, the second angle sensor 15b, and the third angle sensor 15c can be used to capture the joints and pairs of the user 8 during the walking period. The signal of the foot state is transmitted to the remote monitoring system 6 by the control unit 141, and is monitored by the remote monitoring system 6 by the first actuator 13a, the second actuator 13b, the third actuator 13c, and the fourth The reshaping device 1 driven by the actuator 13d and the fifth actuator 13e is in harmony with the movement state of the human body. Further, the user can adjust the lengths of the thigh adjustment mechanism 121, the calf adjustment mechanism 171 and the support base 19 as needed. User 8 Get the best rehabilitation training to improve the quality of the user function rehabilitation of 8 damaged leg.

Continuing to refer to FIG. 1 and FIG. 5, the user 8 can use the navigation aid device 5 to navigate through the menu of the display device 7 and locate the rehabilitation device 1 in the simulation map 511 corresponding to the actual operating environment by the positioning system 51. At the starting point 511a of the simulation map 511, and the positioning system 51 sets the positioning point 511b, the control unit 141 controls the rehabilitation device 1 to move to the positioning point 511b, so that the user 8 can clearly understand the orientation of the body, and The display device 7 correspondingly presents the simulated map 511, the starting point 511a and the positioning point 511b for the user 8 to expand the range of motion, not limited to the rehabilitation room. Furthermore, the user 8 can turn on the searchlight 55 at night to observe In the state of the forward movement, for example, after the user 8 selects the positioning point 511b, the navigation assisting device 5 starts the navigation function after confirming the target, and the display device 7 first plans the walking path for the user 8 to travel to the positioning point 511b. Smooth, in addition, by installing the remote monitoring system 6, the speed information, coordinates and position on the map are instantly transmitted to the remote monitoring system 6 via a wireless communication system (for example, GPRS). Thereby the location of the user 8 is remotely monitored.

Referring to Figures 5 and 6, the display device 7 and the remote monitoring system 6 can be modified as the navigation aid 5 moves, for example, map replacement, correction of map parameters, and correction of coordinates to match the new map, enabling navigation The auxiliary device 5 is moved to the new space, and the user 8 can still clearly understand the orientation in the new environment.

Referring to FIG. 5 and FIG. 6 , the navigation aid 5 can also be used as a guide vehicle. The user 8 can use the navigation aid 5 to control the unit 141 by transmitting the camera 52 and the laser ranging device. 53 and an infrared sensor (not shown) take a sequence of continuous images of the front environment area, analyze the motion track of the object to detect the position of the front obstacle, and control the rehabilitation device 1 to dodge during the movement The obstacle in front, and the distance value detected by the ultrasonic sensing element 54 installed behind the navigation aid 5, the control unit 141 controls the navigation aid by the distance value measured by the ultrasonic sensing element 54. The moving speed of 5 is obtained by the distance between the user 8 and the navigation assisting device 5, and the area of the front environment and the distance between the user 8 and the navigation assisting device 5 are output to the navigation assisting device 5 by the control unit 141 and controlled appropriately. The moving speed of the forward movement, for example, when the user 8 is slower, the moving speed of the navigation assisting device 5 will be slowed down to match the pace of the user 8; and when the user 8 is faster, the navigation assisting device 5 will accelerate the pace of the user 8; however, when the current space is narrow, although the user 8 is closer to the navigation aid 5, it cannot accelerate or maintain a higher speed forward, but when the obstacle is in front, the speed is adjusted and turned away. The obstacle in front is used to avoid the accident of collision; thereby, the moving speed of the navigation aid 5 is mainly adjusted according to the width of the front space and the distance between the rear user 8 to meet the needs and safety of the user 8 walking. Sex.

Looking at the above, the technical means exposed in this creation is not only unprecedented, but also achieves the intended purpose and effect, so it is both novel and progressive. It is a new type of patent law that is called the whole. In terms of structure, it has indeed met the statutory requirements of the Patent Law and has filed a new type of patent application in accordance with the law.

However, the above descriptions are only preferred embodiments of the present invention, and should not be used as a limitation to the scope of implementation of the creation, that is, the equivalent changes and modifications made by the applicant in accordance with the scope of the patent application and the contents of the specification should still be Belonging to the scope covered by this creation patent.

[this creation]
1‧‧‧Rehabilitation device
11‧‧‧Hip joint mechanism
12‧‧‧Thigh skeleton
121‧‧‧Thigh adjustment mechanism
13a‧‧‧First actuator
13b‧‧‧second actuator
13c‧‧‧third actuator
13d‧‧‧fourth actuator
13e‧‧‧ fifth actuator
14a‧‧‧Hip joint actuator
14b‧‧‧Knee joint actuator
14c‧‧‧ Ankle joint actuator
141‧‧‧Control unit
15a‧‧‧First angle sensor
15b‧‧‧Second angle sensor
15c‧‧‧3rd angle sensor
16‧‧‧Knee joint mechanism
17‧‧‧Leg skeleton
171‧‧‧Leg adjustment mechanism
18‧‧‧ Ankle joint mechanism
19‧‧‧ Support
191‧‧‧foot adjustment mechanism
2‧‧‧Fixed devices
3‧‧‧Support institutions
31‧‧‧suspension mechanism
311‧‧‧Rear sensing components
32‧‧‧ Sockets
321‧‧‧Reflection Department
33‧‧‧Mobile components
34‧‧‧ rides
35‧‧‧Handrail components
351‧‧‧ Pressure sensing components
4‧‧‧Support components
5‧‧‧Navigation aids
51‧‧‧ Positioning System
511‧‧‧simulated map
511a‧‧‧ starting point
511b‧‧‧Location
52‧‧‧Photographing device
53‧‧‧Laser distance measuring device
54‧‧‧Ultrasonic sensing components
541‧‧‧Filter components
55‧‧‧Searchlights
6‧‧‧ Remote monitoring system
7‧‧‧Display device
8‧‧‧Users

Fig. 1 is a block diagram showing the pivoting of the hip joint mechanism, the knee joint mechanism and the ankle joint mechanism of the present invention. Figure 2 is a three-dimensional diagram of the creation. Figure 3 is a schematic diagram of the operation of the armrest component, the supporting mechanism and the riding device of the present invention. Figure 4 is a schematic diagram of the operation of the rehabilitation device of the present invention. Figure 5 is a block diagram of the navigation aid of the present invention for navigation walking. Figure 6 is a schematic diagram showing the simulation planning path of the positioning system of the display device of the present invention.

13a‧‧‧First actuator

13b‧‧‧second actuator

13c‧‧‧third actuator

13d‧‧‧fourth actuator

13e‧‧‧ fifth actuator

14a‧‧‧Hip joint actuator

14b‧‧‧Knee joint actuator

14c‧‧‧ Ankle joint actuator

141‧‧‧Control unit

15a‧‧‧First angle sensor

15b‧‧‧Second angle sensor

15c‧‧‧3rd angle sensor

Claims (8)

A lower limb rehabilitation mechanism includes: a rehabilitation device, wherein the rehabilitation device is provided with a hip joint mechanism, the hip joint mechanism is pivotally provided with a one-leg skeleton, and the hip joint mechanism is pivotally provided with a first actuator, and The thigh skeleton is pivotally provided with a second actuator, and the first actuator and the second actuator are pivotally provided with a hip joint actuator, and the thigh skeleton is provided with a knee joint mechanism at one end of the hip joint mechanism The knee joint mechanism is configured to connect the thigh skeleton and a calf skeleton, the knee joint mechanism pivots a third actuator, and the calf skeleton system pivots a fourth actuator, the third actuation And a fourth joint actuator pivoting a knee joint actuator, the calf skeleton is provided with an ankle joint mechanism at one end of the knee joint mechanism, the ankle joint mechanism connecting the calf skeleton and a support base, the calf skeleton A fifth actuator is pivoted, and the fifth actuator is pivotally provided with an ankle joint actuator, and the ankle joint actuator pivots the support base relative to one end of the fifth actuator. The lower limb rehabilitation mechanism according to claim 1, wherein the thigh skeleton is provided with a one-leg adjustment mechanism. The lower limb rehabilitation mechanism according to claim 1, wherein the calf skeleton is provided with a calf adjustment mechanism. The lower limb rehabilitation mechanism according to claim 1, wherein the hip joint actuator, the knee joint actuator and the ankle joint actuator are coupled to a control unit. The lower limb rehabilitation mechanism according to claim 4, wherein the hip joint mechanism and the thigh skeleton are pivoted with a first angle sensor sensing angle, and the knee joint mechanism and the calf skeleton system are pivoted. a second angle sensor sensing angle, the ankle joint mechanism and the support base pivoting a third angle sensor sensing angle, the first angle sensor, the second angle sensor and the The third angle sensor extracts a signal of the angular displacement of the hip joint mechanism, the knee joint mechanism and the ankle joint mechanism during the walking cycle, thereby transmitting each signal to the control unit, and controlling the signal by the control unit The rehabilitation device of the first actuator, the second actuator, the third actuator, the fourth actuator, and the fifth actuator. The lower limb rehabilitation mechanism according to claim 5, further comprising a remote monitoring system, the remote monitoring system remotely receiving the first angle sensor, the second angle sensor, and the The third angle sensor picks up the signal of the angular displacement of the hip joint mechanism, the knee joint mechanism and the ankle joint mechanism during the walking period. The lower limb rehabilitation mechanism according to any one of claims 1 to 6, wherein the rehabilitation device is further provided with at least one fixing device. The lower limb rehabilitation mechanism according to any one of claims 1 to 6, wherein the support base further comprises a foot length adjustment mechanism for adjusting the length of the support base.