A multi-function lower limb ambulation rehabilitation and walking assist device is provided. Through a suspension unit to support the user, the tolerance of the users leg is reduced. For users of different weights, it can be used for a walking rehabilitation training of the lower limbs to achieve the best training effect. An exoskeleton rehabilitation device has a hip joint linear actuator, a knee joint linear actuator, a first actuator, a second actuator, a third actuator, and a fourth actuator to drive the one-legged the exoskeleton rehabilitation device which is safe, comfortable, reliable, practical and convenient. An indoor and outdoor navigation auxiliary device can be used as a blind guiding device. Through a display unit, a navigation and positioning system displays the orientation of the user in a virtual map corresponding to the real operation environment and a desired location point.
