The invention provides a hip joint exoskeleton control method. The hip joint exoskeleton control method comprises the following steps of acquiring a left side current rotation angle track and a left side current rotation angular velocity track of a left hip joint exoskeleton worn by a wearer, and a right side current rotation angle track and a right side current rotation angular velocity track of a right hip joint exoskeleton worn by the wearer; determining a state switching trend of the wearer according to the left side current rotation angle track, the left side current rotation angular velocity track, the right side current rotation angle track and the right side current rotation angular velocity track, wherein the state switching trend comprises stepping and standing; and according to the state switching trend, determining power-assisted torque tracks corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton, and according to the power-assisted torque tracks, driving the left hip joint exoskeleton and the right hip joint exoskeleton to assist the wearer in corresponding state switching. According to the method, various different lower limb movement tasks can be accurately identified, corresponding lower limb assistance can be provided, and the method is suitable for being used in different scenes.
Hip joint exoskeleton control method and device