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This paper contributes to the design of a new anthropomorphic lower extremity exoskeleton device inspired by the distribution of the lower extremity muscles. Different from traditional structures, where a single rotary actuator or a single linear actuator is installed at the joint, each leg of the designed exoskeleton device is a combination of two parallel robots. For the two parallel robots, one connects the waist, a thigh, and a shank to move the hip and knee joints, while, the other connects a thigh, a shank, and a foot to move the knee and ankle joints. In addition, a certain gap at the knee joint and the actuators with springs are also introduced as a basis to avoid the pain caused by the rigid structure. The results show that the new exoskeleton advantages in preforming higher control sensitivity, stronger bearing capacity, and better human-robot interaction performance compared with the previous prototypes.