The　configuration　design　of　human-machine　kinematically　compatible　type　exoskeleton　mechanism　for　lower　limb　rehabilitation　training　is　studied.　According　to　the　biological　skeletal　model　of　human　lower　limb　and　the　knee　joint　design　technique　of　artificial　lower　limb,　the　rigid-body　skeletal　model　with　approximate　motion　function　of　human　lower　limb　was　established.　The　influences　of　the　kinematic　property　difference　between　human　joints　and　machine　joints　as　well　as　the　human-machine　connecting　posture　deviation　on　human-machine　kinematic　compatibility　were　investigated.　Based　on　the　DOF　analysis　of　human-machine　closed　chain　and　adding　connective　joints　into　human-machine　linking　sub-chains,　a　human-machine　kinematically　compatible　type　mechanism　configuration　of　lower　limb　exoskeleton　was　proposed,　and　the　ADAMS　kinematic　simulations　of　the　skeletal-mechanism　united　models　with　or　without　human-machine　connecting　posture　deviation　were　presented.　The　results　showed　that　human-machine　kinematic　interference　resulted　from　the　kinematic　property　difference　between　human　joints　and　machine　joints　as　well　as　the　human-machine　connecting　deviation　can　be　avoided　through　adding　connective　joints　into　human-machine　linking　sub-chains,　thereby　the　exoskeleton　mechanism　and　human　lower　limb　were　kinematically　complete　compatible.