Lower limit rehabilitation walking aid capable of imitating human gait

The invention discloses a lower limit rehabilitation walking aid capable of imitating human gait. The lower limit rehabilitation walking aid capable of imitating human gait mainly comprises a human balance supporting mechanism, thigh rods, shank rods, speed-reducing motors mounted on the thigh rods and driving mechanisms mounted on the thigh rods, wherein the driving mechanisms comprise three groups of four-rod mechanisms; one group of four-rod mechanism drives the thigh rods to move according to the motion rule of hip joints of a human body during normal walking; and another two groups of four-rod mechanisms drive knee joints to move according to the motion rule of knee joints of the human body during normal walking. The two joints can be driven to move according to the rules only by one speed-reducing motor on a single leg, and driving can be finished only by controlling the speed-reducing motor to rotate at a constant speed, so the control difficulty of general rehabilitation equipment is greatly simplified. The lower limit rehabilitation walking aid capable of imitating human gait overcomes the defects in the prior art that the structure is complex and the manufacturing cost of the control system is high, has a simple and light structure, is simple and convenient to control, and is favorable for industrial production and large-range popularization.