The invention discloses a wearable quasi-passive ankle joint exoskeleton recovery device. An excising recovery walking assisting ankle joint exoskeleton system is normally an active driving system, the forced effect on the human body exists, the safety performance is poor, energy dissipation is large, and the gravitational potential energy of the human body is not sufficiently used. The wearable quasi-passive ankle joint exoskeleton recovery device comprises an extension spring connecting mechanism, a reversing spring, a torque compensation mechanism, a guide rail sliding block transmission mechanism and an electric control brake system; the extension spring connecting mechanism is combined with the reversing spring to achieve torque changes of the ankle joint during walking; and the electric control brake system, the torque compensation mechanism and the guide rail sliding block transmission mechanism achieve torque nolinear compensation, so that the torque of the ankle joint of a health person during walking is simulated. By means of the wearable quasi-passive ankle joint exoskeleton recovery device, on the premise that the safety of a patient is guaranteed, the patient suffering from low limb dysfunction such as strephenopodia and foot drop can conduct recovery walking with the wearable quasi-passive ankle joint exoskeleton recovery device.