Design for ward：the orthopedic rehabilitation equipment is sent into the ward ground-breaking. Patients without the ability to get down can recover in the hospital bed, which greatly advances the intervention time of rehabilitation services, catches the early bed period, and improves the quality of life of patients after surgery. Precise rehabilitation: Exoskeleton-type rehabilitation equipment perfectly matches hip, knee, and ankle. The movement of device is highly consistent with the patient, and it can realize complex training tracks such as simulated walking of lower limbs and ligament stretching. Recording training data in real time, it provides doctors with professional and intuitive training reports, dynamically adjusts rehabilitation programs, and improves patients' rehabilitation efficiency. Innovative human-computer interaction: real-time detection of interaction torque between equipment joints and human body, and support dynamic adjustment. The device can adjust training parameters and human-machine interaction torque to achieve human-machine flexible force interaction. It can record therapists' rehabilitation techniques through force perception and accurately reproduce them, making rehabilitation more scientific and easier.