The invention discloses a passive exoskeleton device and a parameter detection method thereof, wherein a passive waist assisting exoskeleton device includes a hip belt, a strap, a hip joint assisting mechanism and a branch rotating piece, and the hip joint assisting mechanism consists of two , respectively installed on both sides of the hip belt; the hip joint assisting mechanism includes a leg pad, a leg rod, a rotating shaft, a clockwork spring and a runner, the leg pad is installed on the leg rod, the leg rod is fixedly connected with the rotating shaft, and the clockwork spring Installed in the spring cavity of the runner and the clockwork spring is fixedly connected to the runner. After the rotating shaft passes through the runner and the clockwork spring, the two ends of the rotating shaft are respectively hinged on the hip belt. The clockwork spring is fixedly connected to the rotating shaft, and the branch rotates It includes a chest pad and a rotating plate mounted on the chest pad and capable of rotating relative to the chest pad. The invention can store the gravity of the upper body of the human body through the hip joint booster mechanism to store energy for the bending operation of the human body.