Special lower limb exoskeleton for hemiplegic patient, using method thereof and stability validation method

The invention discloses a special lower limb exoskeleton for a hemiplegic patient. The special lower limb exoskeleton for the hemiplegic patient comprises a one-sided exoskeleton leg, a supporting rod mechanism, a controller and a battery, wherein the one-sided exoskeleton leg comprises a thigh rod, a shank rod, a sole boot, a hip joint, a knee joint and an ankle joint; the supporting rod mechanism comprises a supporting rod and a telescopic rod; the thigh rod is connected with the supporting rod through the hip joint; a hip joint driving motor, a knee joint driving motor and a telescopic rod driving motor are sequentially arranged on the supporting rod from top to bottom; the hip joint driving motor is connected with the hip joint by a hip joint worm gear; the knee joint driving motor is connected with the middle part of the shank rod by a knee joint worm gear and a knee joint swinging rod; an ankle joint shock absorber is arranged between the ankle joint and the knee joint; the telescopic rod driving motor is connected with the telescopic rod by a lead screw drive structure; the controller and the battery are arranged on the supporting rod. The special lower limb exoskeleton for the hemiplegic patient has the advantages that by aiming at a unilateral lower limb hemiplegic patient, the functions of the healthy side body of the patient are fully played, and the special lower limb exoskeleton assists the patient in walking on the flat ground and walking up and down stairs; the reliability is improved, and the cost is reduced.