The invention discloses a walking aid lower limb of an exoskeleton robot. The walking aid lower limb comprises a first actuator fixing part (1.1), a thigh rod (1.2), a bionic knee-joint (1.3), a shank guard board (1.4), a shank guard board fixing part (1.5), a shank rod (1.6), a shank guard board connecting piece (1.7), a second actuator fixing part (1.8), and an actuator (1.9). The invention provides a walking aid lower limb of an exoskeleton robot, combined with a crossed four-bar linkage structure, a bionic mechanism which accords with physiological movement characteristics of human knee joints is designed. The walking aid lower limb can eliminate harmful applied forces generated by man-machine offset, and solves problems of radial deviation and tangential rotation offsets generated by man-machine system microscopic offset along a shank, so as to improve use security and wearing comfortableness of a rehabilitation exoskeleton.