Exoskeleton robots have emerged as an effective solution for the rehabilitation of patients suffering from lower limb hemiplegia. However, their clinical application necessitates overcoming significant technical hurdles, including lightweight design, flexibility, and the provision of efficient collaborative rehabilitation assistance. The Shenyang Institute of Automation, part of the Chinese Academy of Sciences, has developed a multi-joint "Rigid-Flexible Coupling" exoskeleton robot for lower limbs, which has successfully tackled these challenges. By integrating self-developed series elastic actuators, this robot achieves rigid-flexible coupling and smooth joint movement. With each module weighing just 0.99kg and boasting a remarkable power density of 212W/kg, this innovative robot significantly enhances the naturalness and symmetry of gait, offering a promising new avenue for hemiplegia rehabilitation.