Lower limb rehabilitation exoskeletons still confront critical challenges, including inadequate human-machine motion synchronization, the inherent trade-off between wearing comfort and assistive efficacy, and the absence of a quantitative evaluation system for human-machine compatibility. Moreover, individual variations in human physiological structures and dynamic fluctuations in motion states further exacerbate the complexity of adaptive design for exoskeletons. An evaluation method integrated experimental measurement and simulation analysis was constructed to address the human-machine compatibility issue of mobile lower limb rehabilitation exoskeletons. A coupled model of the exoskeleton and the human musculoskeletal system was established through SolidWorks and OpenSim Creator for collaborative modeling. By setting different stiffness Bushing force constraints, the auxiliary effect of the exoskeleton on human movement was simulated, revealing the correlation between the constraint force parameters and the human-machine motion compatibility. The results show that when the stiffness of the binding strap is 15 N/mm, the motion compatibility between the exoskeleton and the human body reaches over 95%, meeting the requirements of rehabilitation training. The research results provide a scientific basis for the optimal design of lower limb rehabilitation exoskeletons and theoretical support for subsequent clinical applications.