In order to realize the movement rehabilitation of the lower limbs disabled,a hydraulically driven lower limb exoskeleton robot was designed.Aiming at the movement following requirements of the lower limb exoskeleton,a sliding mode controller was proposed and the control simulation was carried out.The simulation results show that this control algorithm can achieve position tracking well.A lower limb exoskeleton system was built based on dSPACE hardware-in-the-loop real-time simulation system.Empty pendulum experiment,passive follow-up experiment and active follow-up experiment were carried out.The experimental results show that the designed lower limb assisted exoskeleton robot can provide assistance to the wearer.The stability of the exoskeleton prototype is good,and it has good tracking performance and rapid response to the wearer.