Exoskeleton robot and controlling method for exoskeleton robot

An exoskeleton robot, comprising:

• a waist assembly;
• two leg assemblies pivotally connected to the waist assembly via two hip joints, wherein the two leg assemblies comprising two thigh stands, two knee joints, and two shank stands connected to the two thigh stands with the two knee joints;
• two shoe assemblies connected to the two leg assemblies via two ankle joints;
• a processor connected to two hip motors driving the two hip joints, and two knee motors driving the two knee joints;
• and
• a detector for detecting a tilt angle and sending a tilt signal to the processor, wherein the tilt angle is a leaning-forward angle of a waist assembly of the exoskeleton robot relative to a line vertical to ground,
• wherein the processor decides an action based on the tilt signal, the processor changes the exoskeleton robot to a standing posture if the tilt angle is smaller than a walking-continuous-threshold angle or not between a balance lower bound angle and a balance upper bound angle, and
• controls the two hip motors and the two knee motors to control the action of the exoskeleton robot.