Lower limb exoskeleton robot control parameter determination method and lower limb exoskeleton robot

The invention is suitable for the technical field of exoskeleton robots, and provides a lower limb exoskeleton robot control parameter determination method and a lower limb exoskeleton robotic.The method comprises the steps that a driving motor and a Bowden cable are added on the basis of a pure passive lower limb exoskeleton robot without a motor, and the plantar pressure value of a target object is obtained; obtaining sensor data corresponding to skeleton joints of the lower limb exoskeleton robot worn on the target object; determining a gait mode of the lower limb exoskeleton robot according to a comparison result of the plantar pressure value and a preset threshold value; when the exoskeleton robot is in a supporting phase mode, according to the plantar pressure value and the angle and angular speed of the skeleton joint, the pulling force applied to the Bowden cable by the driving motor is determined, and assistance is provided for the skeleton joint by adopting the single driving motor; when the exoskel