The　knee　exoskeleton　can　assist　patients　for　knee　rehabilitation　exercises.　In　this　paper,　a　novel　knee　exoskeleton　with　self-alignment　capability　is　proposed.　First,　the　structure　of　the　knee　exoskeleton　is　designed,　which　has　one　active　and　four　passive　joints.　The　four　passive　joints　are　used　to　realize　the　self-alignment　function　of　the　knee　exoskeleton.　Second,　the　kinematic　model　is　established　and　analysed.　Third,　simulations　are　conducted　to　validate　the　rotation　ranges　of　human　knee　and　hip　joints.　The　simulation　results　demonstrate　that　the　knee　exoskeleton　can　meet　the　rehabilitation　needs　of　the　patients.　©　2024　IEEE.