This creation system provides a kind of lower limb rehabilitation mechanism,It includes: a rehabilitation device,It is equipped with a hip joint mechanism,One thigh skeleton,One first actuator,One second actuator,One hip joint actuator,One control unit,One first angle sensor,One knee-joint mechanism,One shank skeleton,One third actuator,One the 4th actuator,One knee joint actuator,One second angle sensor,One ankle-joint mechanism,One support base,One foot length adjustment mechanism,One the 5th actuator,One ankle-joint actuator,One third angle sensor,At least one fixed device,One Riding Accommodation,One armrest element,One supporting mechanism,One navigation aids,An and display device； By it,By single leg rehabilitation device of actuator combination drive composition,Be substantially improved safety,Comfort,Reliability,Practicability and operation convenience,FurthermoreThe rehabilitation mode of normal gait formula may be selected in user,Also sitting formula rehabilitation mode may be selected to be operated,In addition,Lead user to the anchor point for being intended to go to by navigation aids,And it can slow down to dodge with steering when what chance front obstacle and avoid collision.本創作係提供一種下肢復健機構，其包含：一復健裝置，其設有一髖關節機構、一大腿骨架、一第一致動器、一第二致動器、一髖關節致動器、一控制單元、一第一角度感測器、一膝關節機構、一小腿骨架、一第三致動器、一第四致動器、一膝關節致動器、一第二角度感測器、一踝關節機構、一支撐座、一足長調整機構、一第五致動器、一踝關節致動器、一第三角度感測器、至少一固定裝置，一乘坐裝置，一扶手元件，一支撐機構，一導航輔助裝置，以及一顯示裝置；藉之，藉由致動器混合驅動組成之單腿復健裝置，均大幅提升安全性、舒適性、可靠性、實用性及操作方便性，再者，使用者可選擇正常步態式之復健方式，亦可選擇坐立式復健方式進行操作，此外，藉由導航輔助裝置引領使用者至欲前往之定位點，並於遇前方障礙物時能減速與轉向閃避避免碰撞。
