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In this article, we designed a wearable device for the lower limb rehabilitation exoskeleton robots. The device is mainly composed of three parts: a slide rail mechanism, a detecting human-machine interaction force structure and a binding part. By adding passive degree of freedom to automatically compensate for the joint axis deviation between the exoskeleton and the human body, thereby reducing the radial parasitic force on the human leg. In order to verify the effect of automatic compensation of passive degrees of freedom, we conduct statics modeling for human-robot interaction coupling. At the same time, we also designed a device for detecting interaction force, which can obtain human movement intentions in rehabilitation training, and provide a hardware foundation for the research of human-robot cooperative control of rehabilitation exoskeleton. The detection device has the advantages of low cost, compact structure, and good detection performance.