This creation system provides a kind of multifunctional lower limb gait rehabilitation and walking machine device device,It includes: an ectoskeleton rehabilitation device,It is equipped with a hip joint mechanism,One thigh frame body,One first actuator,One second actuator,One hip joint linear actuators,One processing unit,One first contactless optical encoders, angle sensors,One knee-joint mechanism,One shank frame body,One third actuator,One the 4th actuator,One knee joint linear actuators,One second contactless optical encoders, angle sensors,One ankle-joint mechanism,One vola support base,The long adjustment mechanism of one foot,One the 5th actuator,One ankle-joint linear actuators,The contactless optical encoders, angle sensors sensing angle of one third,An at least fixing element,One takes unit,One handrail,One support device,One indoor navigation auxiliary device,An and display unit； By it,By single leg ectoskeleton 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 indoor navigation auxiliary device,And it can slow down to dodge with steering when what chance front obstacle and avoid collision.本創作係提供一種多功能下肢步態復健與助走機器裝置，其包含：一外骨骼復健裝置，其設有一髖關節機構、一大腿架體、一第一致動器、一第二致動器、一髖關節線性致動器、一處理單元、一第一無接觸角度感測器、一膝關節機構、一小腿架體、一第三致動器、一第四致動器、一膝關節線性致動器、一第二無接觸角度感測器、一踝關節機構、一足底支撐座、一腳長調整機構、一第五致動器、一踝關節線性致動器、一第三無接觸角度感測器感測角度、至少一固定元件，一乘坐單元，一扶手，一支撐裝置，一室內導航輔助裝置，以及一顯示單元；藉之，藉由致動器混合驅動組成之單腿外骨骼復健裝置，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，藉由室內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。
