Ankle-foot exoskeleton robot driven by multiple muscles cooperatively

The invention relates to the technical field of rehabilitation robots, in particular to an ankle-foot exoskeleton robot driven by multiple muscles cooperatively. Comprising a knee joint module, an ankle joint rehabilitation module and a foot support rehabilitation module, the ankle joint rehabilitation module comprises a pneumatic muscle assembly and flaky muscles, one end of the pneumatic muscle assembly is slidably connected with the ankle joint rehabilitation module, the other end of the pneumatic muscle assembly is connected with the foot support rehabilitation module, and the flaky muscles are arranged on the foot support rehabilitation module. The knee joint module comprises a thigh supporting rod pair, a shank supporting rod pair and a knee joint rotating shaft module used for connecting the thigh supporting rod pair and the shank supporting rod pair, and the thigh supporting rod pair can rotate around the shank supporting rod pair within a limited angle range through the knee joint rotating shaft modu