The invention discloses a plantar wheel drive self-balancing powered exoskeleton for a patient with spinal cord injury. The plantar wheel drive self-balancing powered exoskeleton comprises hip joints, knee joints, ankle joints, a plantar drive module, a pelvis, thigh bones and shin bones. The ankle joints are unpowered passive joints and respectively have a rotational degree of freedom on a vertical plane and a coronal plane; the knee joints adopt active joint drivers; the hip joints are active joint drivers or controllable brakes; the knee joints and the hip joints have a rotational degree of freedom on the vertical plane; by matching with the advantage that plantar wheel drive both feet are always on the ground, kinesiology and kinetic equilibrium on the coronal plane can be achieved; a supporting device is designed at the pelvis, and body weight is transferred to the ground via the exoskeleton by the supporting device by utilizing the advantage that plantar wheel drive both feet are always on the ground, so that the body weight needing to be constrained by the exoskeleton is effectively decreased. Moreover, torsional springs and other energy storage components are designed at the joints, so that energy consumption of the drivers caused by load fluctuation in the vertical direction in the walking process can be reduced.