Exoskeleton robot man-machine interaction force detection device

The invention belongs to the field of robots or medical equipment, and particularly provides an exoskeleton robot man-machine interaction force measuring device which is used for solving the problems that an existing man-machine interaction force detection mode is poor in stability and low in accuracy. In the invention, a detection structure formed by the pressure sensor, the first pressure sensor mounting block and the second pressure sensor mounting block is adopted, irregular man-machine interaction force between a human body and the exoskeleton binding is converted into pressure between the two pressure sensor mounting blocks, and the pressure is convenient to measure and relatively high in sensitivity; the accuracy, the effectiveness and the real-time performance of interaction force detection are greatly improved; meanwhile, the thigh exoskeleton supporting rod and the shank exoskeleton supporting rod are connected through a bearing, the measurement error caused by the gravity of the thigh exoskeleton s