Abstract: An ankle-assisted exoskeleton device, comprising: an actuator (100), which is configured to be worn behind the waist of a user; lower limb supports (200); and pull lines (300), which are configured to controllably apply a pulling force on the lower limb supports (200) under the drive of the actuator (100). The lower limb supports (200) each comprise: a calf ring (210) configured to surround the calf of the user; a connecting rod assembly (220) that is attached to the calf ring (210) and that extends downward; and a foot support (230) that is hinged to the lower end of the connecting rod assembly (220) and that is connected to a pull line (300); the foot supports (230) are each configured to apply an upward pulling force on the sole of the foot of the user so as to drive the foot of the user to rotate about the ankle joint.