可穿戴式外骨骼主要用于单兵负荷机动作业、残疾人辅助行走、偏瘫患者运动康复等领域。现有外骨骼技术存在着人机耦合效果差、复杂人机系统建模的准确性不高、控制策略减小人机阻抗的能力不足等问题，导致人穿戴舒适性较差且外骨骼助力效率偏低。为了解决这些问题，并最终形成一套外骨骼灵活机动与高效助力兼备的人机耦合控制技术，本项目提出并将解决以下3个科学问题：(1)刚柔耦合的人机系统最佳耦合点位置设计与优化；(2)考虑人运动随意性的人机耦合动力学建模；(3)存在参数不确定性、建模误差、动态干扰条件下人主机辅随动控制方法。该技术能够提高士兵负荷作业的机动性和外骨骼对不同运动风格人群的适用性，有望推动我国士兵智能化运输装备的升级，增强高原行军负荷能力以及特种作战和抗险救援时前线的物资运送能力。本研究成果也能拓展到医学领域，减小偏瘫病患者在外骨骼辅助康复运动中的人机阻碍，具有重要的医学应用价值。

The wearable exoskeleton is applied in highland and mountain area task of soldier, walk-aid of disabled person, motion rehabilitation of hemiplegia. However, there exist some problems such as the poor human-machine coupling effect, the low accuracy of human-machine system model, the defect of control strategy which cannot obviously reduce the human-machine impedance. Therefore, the human comfort is poor and the force-aid efficiency is low. To solve these problems and obtain a coupling control technique to improve the flexibility of exoskeleton with high force-aid efficiency, this project proposes and solves 3 science problems: the best coupling position design and optimization of the human-machine with flexible characteristic, the coupling dynamics of human-machine model under human arbitrary motion, the human-machine coupling control method under parametric uncertainty, model error, dynamic disturbance. This technique can improve the flexibility of solider under overload-carrying task and the people's suitability with different style. This technique can promote the upgrade of enlisted intelligent transportation equipment in our country to improve the load ability of solider under highland march and the capability of transporting martial material to front line under special war. In addition, this technique will apply in medical exoskeleton and reduce the human-machine impedance of hemiplegia under the motion rehabilitation by exoskeleton, which denotes the important medical value.