Auxiliary carrying method and device based on exoskeleton

The invention provides an exoskeleton-based auxiliary carrying method and equipment, and the method comprises the steps: obtaining the angle values of the left and right hip joints of a user in the carrying movement process of the user, and judging the type of the carrying movement of the user based on the angle values of the left and right hip joints of the user; the types of the carrying motion comprise a static carrying type and a dynamic carrying type, determining to provide corresponding acting force for the left and right hip joints of the user according to the types and the angle values of the left and right hip joints of the user, and assisting the carrying of the user through the determined acting force. According to the method, good assistance is provided for workers needing to execute load carrying work, the physical strength consumed by a user in the object carrying process can be saved, the carrying work efficiency is improved, meanwhile, the user can stably carry the objects by increasing balanc