随着我国人口老龄化进程的飞速演变，老年人群体利用穿戴式机器人辅助技术进行日常步行活动的需求日益增大。穿戴式步行辅助机器人根据用户体能进行主从动辅助（据需辅助）的功能特性是其面向日常使用的核心功能要素之一，对改善机械系统的操所性能具有极大的促进作用。现有的步行辅助控制技术是从传统工业机器人的控制技术演化而来，距离据需辅助的控制目标还有较大差距。本项目针对步行运动的据需辅助问题，以实现主从动柔性辅助为控制目标，提出髋关节CPG控制和膝关节分级阻抗控制相结合的新型Hybrid控制方法，采用理论研究与实验验证的研究手段，对“主从动辅助模式决策及转换机制”、“膝关节分级阻抗控制切换及其稳定性”等关键科学问题进行系统、深入研究，进一步开展Hybrid控制理论的据需辅助效应研究，初步探索出一套基于CPG模型及阻抗控制的Hybrid控制策略，为推动我国步行辅助机器人技术的研究与发展奠定坚实的理论研究基础。

Along with the high growth of the elderly population of our country, the need of the elderly to utilize robotic assist technology for daily walking is growing rapidly. The assisted-as-needed (AAN) property of a wearable walking assist robot mates the need of a user’s biological need, and has extreme promotional effects on the improvement of flexibility, appetency and friendliness of a mechanical system. Existed control methods for walking assist are developed from control technologies of traditional industrial robots, and have a large distance to reach the goal of AAN effect. To realize the AAN effect of walking, this study proposes a new hybrid control method consisting of the hip joint control basing on CPGs and the knee joint impedance structured control. By carrying out theoretical research and experimental verifications, the robot’s active/passive mode adaptive to user’s physical function is constructed, and the continuous switching method of the knee joint impedance structured control is constructed. Assistive walking experiments are conducted to verify the assisted-as-needed effect, and to verify the feasibility and validity of the proposal for walking assist. The results of this study will provide theoretical foundation and technical guidance for solving the key problem of assisted-as-needed and other relative technologies for wearable walking assist.