A hip joint rehabilitation assisting apparatus based on sensing and driving integration, comprising a seat device (1), a connecting device (2), a hip joint driving mechanism (3), a sensing device (4), and a lower limb rod device (5). The seat device (1) is clamped on the connecting device (2) the hip joint driving mechanism (3) is connected and fixed to the connecting device (2) and the sensing device (4) the lower limb rod device (5) is movably connected to the sensing device (4) the sensing device (4) comprises a synchronous transmission plate (44), a hip joint shaft (41), a magnet (43), and a Hall sensor (42) one end of the hip joint shaft (41) is fixedly mounted in the synchronous transmission plate (44), and the other end of the hip joint shaft (41) is movably mounted in the connecting device (2) the magnet (43) is embedded in the hip joint shaft (41) in a radial direction of the hip joint shaft (41) the Hall sensor (42) is mounted in the connecting device (2) the synchronous transmission plate (44) is connected to the hip joint driving mechanism (3). By means of the apparatus, rehabilitation training modes such as walking, bicycle, domestic seat, and medical wheelchair can be provided for lower limb hemiplegia patients, and gait rehabilitation assistive exercise can be provided for the disabled-side lower limb by using the gait of the healthy-side lower limb of a patient.Un appareil dassistance à la rééducation de la hanche basé sur lintégration de la détection et de la conduite, comprend une assise (1), un dispositif de connexion (2), un mécanisme dentraînement darticulation de la hanche (3), un dispositif de détection (4) et une tige pour le membre inférieur (5). Lassise (1) est fixée sur le dispositif de connexion (2). Le mécanisme dentraînement de la hanche (3) est relié au dispositif de connexion (2) et de détection (4). La tige du membre inférieur (5) est attaché librement au dispositif de détection (4). Le dispositif de détection (4) comprend une plaque
