Human body exoskeleton walking-aid device with four exoskeleton lower limbs

The utility model relates to a human body exoskeleton walking-aid device with four exoskeleton lower limbs, which comprises exoskeleton lower limbs, a waistband, a back band, a frame carrier, a hip joint component, a first sole component, a second sole component, a power supply, a control device, a sensor and an actuating device. The human body exoskeleton walking-aid device is characterized in that the exoskeleton lower limbs comprise a first left exoskeleton lower limb unit, a second left exoskeleton lower limb unit, a first right exoskeleton lower limb unit and a second right exoskeleton lower limb unit, wherein one ends of the first left exoskeleton lower limb unit and the first right left exoskeleton lower limb unit are both movably connected with the hip joint component; the other end of the first left exoskeleton lower limb unit is movably connected with the first sole component; the other end of the first right left exoskeleton lower limb unit is movable connected with the second sole component; and one ends of the second left exoskeleton lower limb unit and the second right exoskeleton lower limb unit are movably connected with the frame carrier. By adopting the human body exoskeleton walking-aid device, almost all loads borne by the human body are transferred to the ground, and the device is easy to control and has low manufacture cost.