Unilateral hip joint walking aid robot and control method

The invention provides a unilateral hip joint walking aid robot and a control method, and relates to the technical field of walking aid robots. The waist fixing assembly comprises a backpack, and a control system is arranged in the backpack; the uninjured side wearing assembly comprises an uninjured side encoder used for collecting uninjured side thigh motion information, the uninjured side encoder is correspondingly arranged at the position of an uninjured side hip joint, and the uninjured side encoder is electrically connected with the control system; the affected side power assembly comprises a power unit and an affected side encoder for collecting affected side thigh motion information, the power unit and the affected side encoder are arranged at the position, corresponding to an affected side hip joint, of an affected side leg connecting rod, and the power unit and the affected side encoder are electrically connected with the control system. For a hemiplegic user, a single-joint power scheme is adopted,