Assistance leg module and exoskeleton system

The invention discloses an assisting leg module and an exoskeleton system, and relates to the technical field of mechanical joints, a cam is arranged between a first leg component and a second leg component, the two opposite ends of an elastic energy storage part are connected with the first leg component and the second leg component respectively, and the contour curved surface of the cam acts on the elastic energy storage part. When the second leg component is located at the vertical position, the curvature of the contour curved surface, correspondingly acting on the elastic energy storage piece, of the cam is R0, when the second leg component rotates to the first knee bending position from the vertical position, the curvature of the contour curved surface, correspondingly acting on the elastic energy storage piece, of the cam is R1, and R1 is set to be smaller than or equal to R0; when the second leg component rotates to the first knee bending position from the upright position, the stretching amount or the