Multi-function lower limb ambulation rehabilitation and walking assist device

A multi-function lower limb ambulation rehabilitation and walking assist device, comprising an exoskeleton rehabilitation device, the exoskeleton rehabilitation device comprising a hip joint member, the hip joint member being pivotally connected with a thigh frame, the hip joint member being pivotally connected with a first actuator, the thigh frame being pivotally connected with a second actuator, the first actuator and the second actuator being coupled with a hip joint linear actuator, the first actuator and the second actuator being coupled with a processing unit, one end of the thigh frame, opposite the hip joint member, being provided with a knee joint member, the knee joint member being configured to connect the thigh frame and a shank frame, the knee joint member being pivotally connected with a third actuator, the shank frame being pivotally connected with a fourth actuator, the third actuator and the fourth actuator being coupled with a knee joint linear actuator, the third actuator and the fourth actuator being coupled with the processing unit, the processing unit commanding the first actuator and the second actuator to drive the hip joint linear actuator respectively and the third actuator and the fourth actuator to drive the knee joint linear actuator respectively;

• the hip joint member and the thigh frame being pivotally connected with each other through a first non-contact angle sensor to sense an angle between the thigh frame and the ground, the knee joint member and the shank frame being pivotally connected with each other through a second non-contact angle sensor to sense an angle between the shank frame and the ground, the first non-contact angle sensor and the second non-contact angle sensor being coupled with the processing unit respectively;
• the first non-contact angle sensor and the second non-contact angle sensor capturing signals of angular displacement of the hip joint member and the knee joint member in a walk cycle and sending the respective signals to the processing unit, enabling the processing unit to control actuation of the first actuator, the second actuator, the third actuator, and the fourth actuator;
• the exoskeleton rehabilitation device being connected with a weight support system, the weight support system comprising at least one suspension unit, the suspension unit comprising at least one tension sensing unit to sense a weight, the weight support system being provided with four weight support linear actuators, the weight support linear actuators being coupled with the tension sensing unit respectively to steady the center of gravity of the weight support system and the weight;
• the suspension unit being provided with a receiving member, the receiving member being provided with a board, the board having a light reflection portion, a bottom of the weight support system being further provided with at least one moving device.