Power-on self-test method for lower limb exoskeleton robot and lower limb exoskeleton robot

The invention provides a power-on self-test method for a lower limb exoskeleton robot and the lower limb exoskeleton robot, and relates to the technical field of rehabilitation medicines.The method comprises the steps that after a robot system is powered on, position information of absolute value encoders and inertial sensors of joint motors is obtained; if the position information shows that the leg is located at the vertical position currently, the leg is controlled to rotate forwards to the maximum angle and rotate backwards to the minimum angle from the maximum angle; acquiring real-time data of the inertial sensor and the torque sensor in the rotation process of the legs; judging whether the real-time data of the inertial sensor is consistent with the set angle or not, and judging whether the real-time data of the torque sensor is in related change along with the change of the set angle or not; and if the judgment results are yes, determining that the leg joint angle adjusting function is normal. Accordi