A walking assistance robot (1, 5) configured to be mounted on a body of a user to assist the user with walking, the walking assistance robot comprising: a first frame (10, 51) configured to be mounted on a thigh of the user; a second frame (11, 52) configured to be mounted on a calf of the user, the second frame (11, 52) connected to the first frame (10, 51) via a knee joint assembly; and wherein the knee joint assembly comprises a joint assembly that comprises: a first rotating element (20, 61, 61', 61") configured to rotate around a first rotation shaft; a second rotating element (21, 62, 62') configured to rotate around a second rotation shaft; a third rotating element (22, 63, 63') configured to rotate around a third rotation shaft, the third rotating element (22, 63, 63') being connected to the first rotating element (20, 61, 61', 61") and the second rotating element (21, 62, 62') such that, if the first rotating element (21, 62, 62') is rotated around the first rotation shaft, a position of the second rotation shaft and a position of the third rotation shaft move relative to the first rotation shaft; wherein the first rotating element (20, 61, 61', 61"), the second rotating element (21, 62, 62') and the third rotating element (22, 63, 63') each have their own rotation shaft, characterized in that: the first rotating element is a first pulley (20, 61, 61'), the second rotating element is a second pulley (21, 62) and the third rotating element is a third pulley (22, 63); or the first rotating element is a first gear (61"), the second rotating element is a second gear and the third rotating element is a third gear; and wherein the first frame (10, 51) or the second frame (11, 52) is configured to simultaneously make sliding and rolling motions to pivot a knee joint (6, 14) of the walking assistance robot (1, 5) similar to the user's knee joint. a first frame (10, 51) configured to be mounted on a thigh of the user; a second frame (11, 52) configured to be mounted on a calf of the user, the second frame (11, 52) connected to the first frame (10, 51) via a knee joint assembly; and wherein the knee joint assembly comprises a joint assembly that comprises: a first rotating element (20, 61, 61', 61") configured to rotate around a first rotation shaft; a second rotating element (21, 62, 62') configured to rotate around a second rotation shaft; a third rotating element (22, 63, 63') configured to rotate around a third rotation shaft, the third rotating element (22, 63, 63') being connected to the first rotating element (20, 61, 61', 61") and the second rotating element (21, 62, 62') such that, if the first rotating element (21, 62, 62') is rotated around the first rotation shaft, a position of the second rotation shaft and a position of the third rotation shaft move relative to the first rotation shaft; wherein the first rotating element (20, 61, 61', 61"), the second rotating element (21, 62, 62') and the third rotating element (22, 63, 63') each have their own rotation shaft, characterized in that: the first rotating element is a first pulley (20, 61, 61'), the second rotating element is a second pulley (21, 62) and the third rotating element is a third pulley (22, 63); or the first rotating element is a first gear (61"), the second rotating element is a second gear and the third rotating element is a third gear; and a first rotating element (20, 61, 61', 61") configured to rotate around a first rotation shaft; a second rotating element (21, 62, 62') configured to rotate around a second rotation shaft; a third rotating element (22, 63, 63') configured to rotate around a third rotation shaft, the third rotating element (22, 63, 63') being connected to the first rotating element (20, 61, 61', 61") and the second rotating element (21, 62, 62') such that, if the first rotating element (21, 62, 62') is rotated around the first rotation shaft, a position of the second rotation shaft and a position of the third rotation shaft move relative to the first rotation shaft; wherein the first rotating element (20, 61, 61', 61"), the second rotating element (21, 62, 62') and the third rotating element (22, 63, 63') each have their own rotation shaft, the first rotating element is a first pulley (20, 61, 61'), the second rotating element is a second pulley (21, 62) and the third rotating element is a third pulley (22, 63); or the first rotating element is a first gear (61"), the second rotating element is a second gear and the third rotating element is a third gear; and wherein the first frame (10, 51) or the second frame (11, 52) is configured to simultaneously make sliding and rolling motions to pivot a knee joint (6, 14) of the walking assistance robot (1, 5) similar to the user's knee joint.