Soft knee exoskeleton driven by negative-pressure linear actuator

A soft knee exoskeleton driven by a negative-pressure linear actuator, comprising:

• an exoskeleton controller comprising a control part and a pneumatic power output part;
• a left leg knee joint soft actuator worn on a left leg knee joint and capable of assisting knee joint motion of a left leg;
• a right leg knee joint soft actuator worn on a right leg knee joint and capable of assisting knee joint motion of a right leg, wherein the left leg knee joint soft actuator and the right leg knee joint soft actuator comprise a pneumatic driving mechanism and a sensing system;
• the pneumatic driving mechanism can accept the power outputted by the exoskeleton controller to provide a torque for the knee joints;
• the sensing system can detect human-machine interaction state data;
• and the control part can process the data detected by the sensing system and control the power output of the left leg knee joint soft actuator and the right leg knee joint soft actuator.