Lower limb rehabilitation man-machine coupling force detection device and method

The invention relates to a lower limb rehabilitation man-machine coupling force detection device and method. The device comprises a left exoskeleton mechanical leg, a right exoskeleton mechanical leg, a motor and rehabilitation boots, wherein man-machine coupling force detection mechanisms are respectively mounted on thighs and shanks of the two exoskeleton mechanical legs. The measuring device is mainly used for extracting active force of human legs during the motion process by detecting the coupling force between the exoskeleton mechanical legs and a patient during lower limb rehabilitation training of the patient under an active motion mode. The system disclosed by the invention is simple in structure and convenient to operate, and the measured man-machine coupling force can be used as basis of a dynamic gait trajectory and driving force control of the exoskeleton mechanical legs of a lower limb rehabilitation robot.