A lower limb exoskeleton for at least one lower limb of an user includes an electromyographic sensing end, a knee angle sensing unit, a neural network calculating unit, an exoskeleton motor and a lower limb aid. The electromyographic sensing end is for measuring an electromyographic signal of a thigh. The knee angle sensing unit is for measuring a knee angle signal of a knee joint. The neural network calculating unit is for calculating an output value according to the electromyographic signal, the knee angle signal and a muscle mechanical model, wherein the output value is converted to an exoskeleton motor control signal. The exoskeleton motor is adjacent to the knee joint and generates an aiding torque according to the exoskeleton motor control signal. The lower limb aid is driven by the aiding torque to aid and support the lower limb.一種下肢外骨骼輔助裝置，其供使用者之至少一下肢穿戴，下肢外骨骼輔助裝置包含肌電感測端、膝關節角度感測單元、類神經網路演算單元、下肢外骨骼馬達及下肢輔具。肌電感測端用以量測大腿之肌電訊號。膝關節角度感測單元用以量測膝關節之膝關節角度訊號。類神經網路演算單元依據肌電訊號、膝關節角度訊號及肌肉機械模型，運算得到輸出值，輸出值轉換為下肢外骨骼馬達控制訊號。下肢外骨骼馬達鄰近膝關節且依據輸入之下肢外骨骼馬達控制訊號產生輔助力矩。下肢輔具受輔助力矩驅動以輔助支撐下肢。
