The application belongs to the technical field of human exoskeletons, and specifically discloses a
thigh prosthesis knee joint exoskeleton and a control method thereof. The application comprises a driving module, a
thigh fixing module, a shank fixing module and a
knee joint connecting module, wherein the
exoskeleton is fixed on the
prosthesis through the
thigh fixing module, the shank fixing module and the
knee joint connecting module. The rotation movement of the motor output shaft is converted into the linear movement of the sliding block through the screw transmission mechanism in the driving module, and then the linear movement of the sliding block is converted into the rotation movement of the shank of the
prosthesis around the rotation shaft of the knee joint of the prosthesis through the
crank slider mechanism, and the size of the initial installation angle is set by the variable force arm characteristics of the
crank slider mechanism, so that the output torque of the shank of the prosthesis can better match the
gait of the user, thereby significantly improving the
gait stability, power assistance efficiency and wearing comfort of the existing unpowered prosthesis.