The connecting rod of the lower limb exoskeleton rehabilitation robot will be elastically deformed due to its own flexibility when assisting human movement,which will affect the position accuracy of its entire walking trajectory and the real-time and accuracy of control.For the designed lower extremity exoskeleton rehabilitation robot,the correctness of the model was first verified by gait simulation,then its rigid-flexible coupling dynamics model was established.Based on the rigid-flexible coupling dynamics model,the joint simulation of rigid-flexible coupling dynamics in the swing phase was completed by ADAMS and ANSYS,and its dynamic deformation error data were obtained.The results show that the displacement errors in the Y direction,the Z direction and the overall displacement error fluctuate in the range of -38～3.6 mm,-7.5～3 mm and -6～14.5 mm respectively.Compared with the other two aspects,the displacement error in the Y direction is the largest,within the allowable range.The correctness and rationality of the rigid-flexible coupling model of the lower limb exoskeleton rehabilitation robot is verified,it provides reference for the subsequent structural optimization and control system design.