Wearable exoskeleton device control method

The invention provides a wearable exoskeleton device control method. The wearable exoskeleton device control method comprises the following steps: acquiring environment information around a human body through a sensor; performing multi-mode information fusion processing on the environment information; recognizing a human body motion intention; acquiring a human body movement gait; the human body movement gait comprises a standing phase and a swinging phase; joint expected torque is calculated through a man-machine coupling dynamic model; and the wearable exoskeleton device is controlled by the man-machine cooperative motion controller to provide corresponding joint expected torque. According to the wearable exoskeleton device, the hip joint rotating part and the knee joint rotating part of the wearable exoskeleton device are controlled by the man-machine cooperative motion controller to provide corresponding joint expected torque, and human body motion is assisted; and the system compliance control effect is