In order to meet the needs of patients with human hip dysfunction for daily rehabilitation and assistance, a wearable hip exoskeleton robot was designed, which could adapt to different wearer body types and realize joint alignment. The simulation results show that the fuzzy active disturbance rejection control（ADRC）can achieve better gait tracking, and then the angle errors of the left and right hip joints are 0.011 rad and 0.006 rad, respectively, and the energy consumption of the three volunteers with and without exoskeleton is reduced by 6%, 7% and 14% respectively. The experimental results show that the exoskeleton system can effectively reduce the energy consumption of the wearer and assist the walker.