An ankle assisting exoskeleton device comprising: an actuator configured to be worn behind a user's waist; a cable, a lower limb support comprising: a calf ring configured to encircle a user's calf; a link assembly attached to the calf ring and extending downwards; a foot support, the foot support comprising a front end and a rear end and being hinged between the front end and the rear end to a lower end of the link assembly, the foot support including a pair of support arms (233, 234), the pair of support arms 233, 234 together with the rear end are U-shaped and configured to at least partially horizontally surround a user's foot; and wherein the front end of the foot support is configured to vertically surround the user's foot and the rear end is configured to be located behind the user's heel; wherein the lower limb support further comprises: a torsion spring disposed between the lower end of the link assembly and the foot support, the torsion spring being configured to apply a torque to the foot support causing the front end to be lifted upwards; and a sole pulling ring hinged to the foot support between the front end and the rear end of the foot support, the sole pulling ring being configured to pull the user's sole; and the cable being connected at its ends to the actuator and the rear end of the foot support so that the actuator can apply an upward pull to the rear end through the cable to drive the user's foot to rotate around an ankle joint through an upward pulling force exerted on the user's sole. an actuator configured to be worn behind a user's waist; a cable, a lower limb support comprising: a calf ring configured to encircle a user's calf; a link assembly attached to the calf ring and extending downwards; a foot support, the foot support comprising a front end and a rear end and being hinged between the front end and the rear end to a lower end of the link assembly, the foot support including a pair of support arms (233, 234), the pair of support arms 233, 234 together with the rear end are U-shaped and configured to at least partially horizontally surround a user's foot; and wherein the front end of the foot support is configured to vertically surround the user's foot and the rear end is configured to be located behind the user's heel; wherein the lower limb support further comprises: a torsion spring disposed between the lower end of the link assembly and the foot support, the torsion spring being configured to apply a torque to the foot support causing the front end to be lifted upwards; and a sole pulling ring hinged to the foot support between the front end and the rear end of the foot support, the sole pulling ring being configured to pull the user's sole; and the cable being connected at its ends to the actuator and the rear end of the foot support so that the actuator can apply an upward pull to the rear end through the cable to drive the user's foot to rotate around an ankle joint through an upward pulling force exerted on the user's sole. a calf ring configured to encircle a user's calf; a link assembly attached to the calf ring and extending downwards; a foot support, the foot support comprising a front end and a rear end and being hinged between the front end and the rear end to a lower end of the link assembly, the foot support including a pair of support arms (233, 234), the pair of support arms 233, 234 together with the rear end are U-shaped and configured to at least partially horizontally surround a user's foot; and wherein the front end of the foot support is configured to vertically surround the user's foot and the rear end is configured to be located behind the user's heel; wherein the lower limb support further comprises: a torsion spring disposed between the lower end of the link assembly and the foot support, the torsion spring being configured to apply a torque to the foot support causing the front end to be lifted upwards; and a sole pulling ring hinged to the foot support between the front end and the rear end of the foot support, the sole pulling ring being configured to pull the user's sole; and