高齡化時的來臨，因此老年人口比率逐年攀升，隨之而來的是對於身體機能退化疾病的重視。所以本文希望可以藉由發展一款可穿戴式的輔具來幫助下肢不便的老年人，不僅如此也可以用來輔助運動傷害者。目前研究以物理定律、數值模擬以及實驗鑑別建立肢體阻抗、行走動態與輔具動態模型，之後再利用模型資訊來設計控制系統以因應不同的需要。本文利用已鑑別出的系統模型，設計LQG/LTR+I控制器來控制輔具的作動，並且引入 anti-windup和bumpless transfer的控制架構，希望可以改善在控制模式切換時對於控制力和輸出狀態的暫態反應。最後透過上、下樓梯實驗來驗證支撐腳模式與非支撐腳模式切換控制策略，其中支撐腳模式是利用測力鞋與踝關節角度所推算膝關節運動所需之力矩大小，再進一步地求出相對應的張力值，本研究現階段以補償膝關節力矩的10%為輔助目的，而非支撐腳模式則是作輔具彎曲角度的軌跡控制。

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