The invention relates to the technical field of power-assisted robots, in particular to a passive flexible knee-
ankle joint power-assisted
exoskeleton robot. Comprising an
exoskeleton support and a pair of
energy recovery and release devices. Each
energy recovery and release device comprises an input
clutch mechanism, an
energy storage mechanism and an output mechanism; in a
knee joint bending stage, a first
flexible cable or a second
flexible cable pulls a corresponding input transmission
pulley to rotate, so that an input transmission gear and a transmission inner gear ring are in meshed transmission, and
energy storage of an
energy storage spring is realized; in an
ankle joint power assisting stage, a steering engine gear is in gear meshing transmission with a transmission rack, so that a
clutch gear is meshed with an output transmission gear and an output transmission
pulley at the same time, an energy storage spring releases
stored energy, and a third
flexible cable is stretched to pull a foot plate upwards to move; therefore, part of negative work done by the
knee joint during stretching is collected in a mode of assisting the
knee joint in doing negative work, part of negative work generated by the knee joint during bending is also absorbed, and the negative work collecting efficiency is higher when the negative work collecting device is used for collecting negative work.