An assisted exoskeleton rehabilitation device comprising: a back structure comprising a back crossbeam, a back supporting panel with an adjustable length, and a shoulder pneumatic muscle element mounted on the back supporting panel; an arm structure; a shoulder joint assembly that connects the arm structure to an upper end of the back structure; a waist structure; and two thigh structures and a hip joint assembly, the two thigh structures connected to the waist structure by the hip joint assembly, respectively; wherein an upper end of the back supporting panel is fixedly connected to the back crossbeam, wherein a lower end of the back supporting panel is fixedly connected to the waist structure, wherein the shoulder joint assembly comprises a curved shoulder joint connecting panel, a shoulder traction wheel, a shoulder traction line, a first hinge mechanism, and a second hinge mechanism, wherein one end of the curved shoulder joint connecting panel is connected to an upper end of the arm structure by the first hinge mechanism to form a bend-stretch revolute pair of the shoulder joint assembly, wherein the other end of the curved shoulder joint connecting panel is connected to the back crossbeam by the second hinge mechanism to form an abduction-adduction revolute pair and a medial rotation-lateral rotation revolute pair of the shoulder joint assembly, wherein the shoulder traction wheel is fixed to the upper end of the arm structure, and wherein the shoulder traction line is connected to the shoulder traction wheel at one end, and to the shoulder pneumatic muscle element at the other end; wherein the waist structure comprising a waist transverse panel fixedly connected to a lower end of the back supporting panel and a waist pneumatic muscle element mounted on the thigh structure, wherein the hip joint assembly comprises a waist connection panel fixedly connected to the waist transverse panel, a hinged shaft, a first guide wheel fixed to the waist connection panel, a second guide wheel fixed to the thigh structure, and a waist traction line, wherein the waist connection panel is connected to the thigh structure by the hinged shaft to form a bend-stretch revolute pair of the hip joint, wherein one end of the waist traction line extends through the second guide wheel and the first guide wheel, and is fixed to the waist connection panel, and wherein the other end of the waist traction line is connected to the waist pneumatic muscle element. a back structure comprising a back crossbeam, a back supporting panel with an adjustable length, and a shoulder pneumatic muscle element mounted on the back supporting panel; an arm structure; a shoulder joint assembly that connects the arm structure to an upper end of the back structure; a waist structure; and two thigh structures and a hip joint assembly, the two thigh structures connected to the waist structure by the hip joint assembly, respectively; wherein an upper end of the back supporting panel is fixedly connected to the back crossbeam, wherein a lower end of the back supporting panel is fixedly connected to the waist structure, wherein the shoulder joint assembly comprises a curved shoulder joint connecting panel, a shoulder traction wheel, a shoulder traction line, a first hinge mechanism, and a second hinge mechanism, wherein one end of the curved shoulder joint connecting panel is connected to an upper end of the arm structure by the first hinge mechanism to form a bend-stretch revolute pair of the shoulder joint assembly, wherein the other end of the curved shoulder joint connecting panel is connected to the back crossbeam by the second hinge mechanism to form an abduction-adduction revolute pair and a medial rotation-lateral rotation revolute pair of the shoulder joint assembly, wherein the shoulder traction wheel is fixed to the upper end of the arm structure, and wherein the shoulder traction line is connected to the shoulder traction wheel at one end, and to the shoulder pneumatic muscle element at the other end; wherein the waist structure comprising a waist transverse panel fixedly connected to a lower end of the back supporting panel and a waist pneumatic muscle element mounted on the thigh structure, wherein the hip joint assembly comprises a waist connection panel fixedly connected to the waist transverse panel, a hinged shaft, a first guide wheel fixed to the waist connection panel, a second guide wheel fixed to the thigh structure, and a waist traction line, wherein the waist connection panel is connected to the thigh structure by the hinged shaft to form a bend-stretch revolute pair of the hip joint, wherein one end of the waist traction line extends through the second guide wheel and the first guide wheel, and is fixed to the waist connection panel, and wherein the other end of the waist traction line is connected to the waist pneumatic muscle element.