Exoskeleton assisted walking system driven by functional muscle electric stimulation and assisted walking method

The invention provides an exoskeleton assisted walking system driven by functional muscle electric stimulation and an assisted walking method. The system comprises a pace detection unit, a signal processing unit, and a functional muscle electric stimulator. The signal input end of the signal processing unit is connected to the pace detection unit, and the output end of the signal processing unit is connected to the input end of the functional muscle electric stimulator and the input end of a joint locking unit. The output end of the functional muscle electric stimulator is connected to surface muscle stimulation electrodes. Different parts of a user with the placement of the surface muscle stimulation electrodes are connected to the signal collection end of a pace collection system. The method comprises a step of using the system to measure and obtain the pace information of the user, and switching the support and swing states of an exoskeleton, a step of using the system to stimulate a user muscle to retract and drive the leg of the user to swing, and a step of fixing the leg knee joint movement phase at a pace support phase by using the system according to the pace information, and providing stable assisted support. According to the method, the user can walk in a more natural way, the weight and power consumption of the exoskeleton are reduced, and the endurance of the exoskeleton is improved.